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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Taxes      
Unremitted earnings of foreign subsidiaries $ 209.3    
Reconciliation of the beginning and ending balances of the total amounts of unrecognized tax benefits      
Balance at the beginning of the year 22.9 $ 20.2 $ 19.4
Increases in tax positions for prior years 0.4 0.3 0.3
Decreases in tax positions for prior years (0.6) (1.7) (0.4)
Increases in tax positions for current year 0.1 4.2 3.8
Settlements (17.6) (0.1) (0.1)
Lapses in statutes-of-limitation periods     (2.8)
Balance at the end of the year 5.2 22.9 $ 20.2
Unrecognized tax benefits, if recognized, would affect the effective tax rate 5.2    
Accrued interest and penalties on uncertain tax positions 0.7 $ 1.3  
State      
Income Taxes      
Operating Loss Carryforwards $ 6.3