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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