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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Stock-based compensation expense
Pre-tax compensation expense	$ 16.5	$ 17.4	$ 15.7
The amount of financing cash flows of excess income tax benefits related to share-based compensation expense	$ 18.8	$ 15.9	$ 13.2
Executive Incentive Program
Stock-based compensation
Shares available for grant under the plan	3,950,953
Shares available for issuance under the plan	1,437,278
Stock options
Stock-based compensation
Stock options granted (in shares)	371,623	316,345	259,035
Awards granted (in shares)	371,623
Vesting period	3 years
Maximum term life	10 years
Stock-based compensation expense
Pre-tax compensation expense	$ 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 stock options	1 year 9 months 29 days
Weighted-average assumptions used to estimate grant date fair value of stock options
Expected dividend yield (as a percent)	1.40%	1.10%	1.20%
Expected life in years	5 years 7 months 10 days	5 years 8 months 16 days	5 years 8 months 27 days
Expected volatility (as a percent)	27.50%	27.30%	29.30%
Risk-free interest rate (as a percent)	1.40%	1.40%	1.70%
Weighted average fair value (in dollars per share)	$ 19.30	$ 21.19	$ 19.15
Restricted stock awards
Stock-based compensation
Awards granted (in shares)	69,583	58,040	104,773
Vesting period	3 years
Stock-based compensation expense
Pre-tax compensation expense	$ 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 stock options	2 years 4 months 24 days
Performance share awards
Stock-based compensation
Awards granted (in shares)	100,139	95,536	137,890
Vesting period	3 years
Stock-based compensation expense
Pre-tax compensation expense	$ 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 stock options	1 year 9 months 22 days
Performance share awards | 2016 Awards
Stock-based compensation
Awards granted (in shares)	61,127
Restricted Stock Units
Stock-based compensation
Awards granted (in shares)	14,359
Aggregate grant-date fair value of stock options, restricted stock awards, performance share awards and restricted stock units	$ 22.0

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Represents the aggregate grant-date fair value of share-based compensation plan awards to be expensed over the requisite period.

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Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees.

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Unrecognized cost of unvested share-based compensation awards.

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Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount of cash inflow from realized tax benefit related to deductible compensation cost reported on the entity's tax return for equity instruments in excess of the compensation cost for those instruments recognized for financial reporting purposes.

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Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Net number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Expected term of share-based compensation awards, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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