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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013
Stock-based compensation expense |  |  |  |
Compensation expense recognized | $ 16.5 | $ 17.4 | $ 15.7 |
Stock options |  |  |  |
Number of Shares |  |  |  |
Outstanding at the beginning of the period (in shares) | 1,810,080 | 2,276,637 | 2,993,007 |
Stock options granted (in shares) | 371,623 | 316,345 | 259,035 |
Options exercised (in shares) | (888,166) | (748,270) | (925,520) |
Options forfeited (in shares) | (29,872) | (34,632) | (49,885) |
Outstanding at the end of the period (in shares) | 1,263,665 | 1,810,080 | 2,276,637 |
Weighted Average Price |  |  |  |
Outstanding at the beginning of the period (in dollars per share) | $ 52.00 | $ 42.32 | $ 38.76 |
Options granted (in dollars per share) | 83.85 | 92.84 | 73.08 |
Options exercised (in dollars per share) | 37.25 | 38.44 | 38.63 |
Options forfeited (in dollars per share) | 85.07 | 81.68 | 56.89 |
Outstanding at the end of the period (in dollars per share) | $ 70.95 | $ 52.00 | $ 42.32 |
Weighted-average grant-date fair value | $ 7.2 | $ 6.7 | $ 5.0 |
Total intrinsic value of options exercised | $ 56.4 | $ 42.7 | $ 41.7 |
Weighted average contractual term | 6 years 10 months 6 days | 5 years 7 months 17 days | 5 years 8 months 16 days |
Number of options exercisable (in shares) | 634,719 | 1,281,126 | 1,666,647 |
Weighted average exercise price of exercisable options (in dollars per share) | $ 56.15 | $ 39.09 | $ 34.24 |
The weighted average contractual term of options exercisable | 5 years 1 month 21 days | 4 years 5 months 5 days | 4 years 8 months 19 days |
Aggregate intrinsic value of options outstanding | $ 34.4 | $ 63.5 | $ 91.8 |
Total grant date fair value of options vested | $ 4.7 | 4.6 | 4.0 |
Vesting period of shares awarded under the Program | 3 years |  |  |
Stock-based compensation expense |  |  |  |
Compensation expense recognized | $ 6.1 | 5.1 | 4.5 |
Unrecognized compensation cost related to stock options | $ 4.3 |  |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 9 months 29 days |  |  |
Award Activity |  |  |  |
Units granted (in shares) | 371,623 |  |  |
Restricted stock awards |  |  |  |
Weighted Average Price |  |  |  |
Vesting period of shares awarded under the Program | 3 years |  |  |
Stock-based compensation expense |  |  |  |
Compensation expense recognized | $ 4.5 | $ 5.9 | $ 5.1 |
Unrecognized compensation cost related to stock options | $ 5.5 |  |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 2 years 4 months 24 days |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) | 226,407 | 246,988 | 240,990 |
Units granted (in shares) | 69,583 | 58,040 | 104,773 |
Units vested and issued (in shares) | (67,570) | (75,740) | (94,590) |
Units forfeited (in shares) | (3,155) | (2,881) | (4,185) |
Outstanding balance at the end of the period (in shares) | 225,265 | 226,407 | 246,988 |
Performance share awards |  |  |  |
Grant date fair value (in dollars per share) | $ 84.73 | $ 90.54 | $ 76.70 |
Grant date fair value (in dollars per share) | 82.59 | 76.66 | 65.14 | $ 49.66
Shares vested (in dollars per share) | 64.80 | 49.56 | 38.57 |
Shares forfeited (in dollars per share) | $ 84.93 | $ 81.32 | $ 63.73 |
Performance share awards |  |  |  |
Weighted Average Price |  |  |  |
Vesting period of shares awarded under the Program | 3 years |  |  |
Stock-based compensation expense |  |  |  |
Compensation expense recognized | $ 4.7 | $ 6.3 | $ 6.0 |
Unrecognized compensation cost related to stock options | $ 6.0 |  |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 9 months 22 days |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) | 228,246 | 281,475 | 328,990 |
Units granted (in shares) | 100,139 | 95,536 | 137,890 |
Units vested and issued (in shares) | (81,604) | (112,814) | (135,008) |
Units vested and deferred (in shares) | (24,067) | (33,611) | (46,212) |
Units forfeited (in shares) | (3,155) | (2,340) | (4,185) |
Outstanding balance at the end of the period (in shares) | 219,559 | 228,246 | 281,475 |
Performance share awards |  |  |  |
Grant date fair value (in dollars per share) | $ 119.08 | $ 112.39 | $ 95.72 |
Measurement period | 3 years |  |  |
Performance share awards | 2016 Awards |  |  |  |
Award Activity |  |  |  |
Units granted (in shares) | 61,127 |  |  |
Units forfeited (in shares) | (1,040) |  |  |
Outstanding balance at the end of the period (in shares) | 60,087 |  |  |
Performance share awards | 2015 Awards |  |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) | 56,820 |  |  |
Units granted (in shares) |  | 58,040 |  |
Units forfeited (in shares) | (1,380) | (1,220) |  |
Outstanding balance at the end of the period (in shares) | 55,440 | 56,820 |  |
Performance share awards | 2014 Awards |  |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) | 65,755 | 66,505 |  |
Units granted (in shares) | 39,012 |  | 67,970 |
Units forfeited (in shares) | (735) | (750) | (1,465) |
Outstanding balance at the end of the period (in shares) | 104,032 | 65,755 | 66,505 |
Performance share awards | 2013 Awards |  |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) | 105,671 | 68,545 | 70,175 |
Units granted (in shares) |  | 37,496 |  |
Units vested and issued (in shares) | (81,604) |  |  |
Units vested and deferred (in shares) | (24,067) |  |  |
Units forfeited (in shares) |  | (370) | (1,630) |
Outstanding balance at the end of the period (in shares) |  | 105,671 | 68,545 |
Performance share awards | 2012 Awards |  |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) |  | 146,425 | 77,595 |
Units granted (in shares) |  |  | 69,920 |
Units vested and issued (in shares) |  | (112,814) |  |
Units vested and deferred (in shares) |  | (33,611) |  |
Units forfeited (in shares) |  |  | (1,090) |
Outstanding balance at the end of the period (in shares) |  |  | 146,425 |
Performance share awards | 2011 Awards |  |  |  |
Award Activity |  |  |  |
Outstanding balance at the beginning of the period (in shares) |  |  | 181,220 |
Units vested and issued (in shares) |  |  | (135,008) |
Units vested and deferred (in shares) |  |  | (46,212) |
Restricted Stock Units |  |  |  |
Award Activity |  |  |  |
Units granted (in shares) | 14,359 |  |  |
Performance share awards |  |  |  |
Grant date fair value (in dollars per share) | $ 83.31 |  |  |
Deferred Compensation Equity |  |  |  |
Performance share awards |  |  |  |
Number of common stock deferred (in shares) | 294,574 | 253,520 |  |

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