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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2016
Dec. 31, 2015
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 300,000,000 300,000,000
Common stock, shares issued (in shares) 170,501,186 167,241,734
Common stock, shares outstanding (in shares) 166,579,468 164,324,270
Common stock in treasury (in shares) 3,921,718 2,917,464