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Income Taxes - Pre-tax Income and Provision (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Continuing operations      
U.S. domestic $ 319.0 $ 393.8 $ 318.9
Foreign 91.5 74.1 57.2
Earnings before income taxes from continuing operations 410.5 467.9 376.1
Discontinued operations      
U.S. domestic (1.1) 0.1 (3.2)
Foreign     1.1
Total pre-tax income (loss) from discontinued operations (1.1) 0.1 (2.1)
Total pre-tax income 409.4 468.0 374.0
Current expense      
Federal and State 155.5 140.1 118.4
Foreign 29.2 24.0 16.1
Total current expense 184.7 164.1 134.5
Deferred expense (benefit)      
Federal and State (15.5) (12.7) (8.5)
Foreign (9.5) (3.1) (1.6)
Total deferred expense (benefit) (25.0) (15.8) (10.1)
Total tax expense 159.7 148.3 124.4
Reconciliation of taxes from continuing operations      
Taxes at the 35% U.S. statutory rate 143.7 163.8 131.6
State and local taxes, net of federal income tax benefit 8.6 1.9 7.4
Benefit of foreign earnings taxed at lower rates (8.1) (7.9) (5.2)
Benefit for domestic manufacturing deduction (12.6) (11.5) (8.7)
Tax credits (10.7)    
Tax impact of impairment of goodwill 41.2    
Other, net (2.4) 2.0 (0.7)
Total tax expense $ 159.7 $ 148.3 $ 124.4
Effective income tax rate on continuing operations (as a percent) 38.90% 31.70% 33.10%
Income Taxes Paid, Net [Abstract]      
Cash payments for income taxes, net of refunds $ 192.3 $ 123.0 $ 138.5