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Retirement Plans - Defined Benefit Plans (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Defined Benefit Plan, Amount to be Amortized from Accumulated Other Comprehensive Income (Loss) Next Fiscal Year [Abstract]      
Prior service cost included in accumulated other comprehensive income and expected to be recognized in net periodic pension costs $ 0.2    
Prior service cost included in Accumulated other comprehensive income and expected to be recognized in net periodic pension costs, net of tax 0.1    
Actuarial loss included in accumulated other comprehensive income and expected to be recognized in net periodic pension costs 2.3    
Actuarial loss included in accumulated other comprehensive income and expected to be recognized in net periodic pension costs, net of tax 1.5    
Defined Benefit Plans      
Amounts included in accumulated other comprehensive loss      
Unrecognized actuarial losses (gross) 40.2 $ 42.2  
Unrecognized actuarial losses (net of tax) 25.3 26.4  
Unrecognized prior service cost (gross) 0.9 1.1  
Unrecognized prior service cost (net of tax) 0.5 0.7  
Projected benefit obligation      
Beginning of year 174.3 192.3  
Service cost 3.4 3.7 $ 4.0
Interest cost 5.4 7.1 7.7
Plan amendments (0.1)    
Actuarial (gain)/loss 1.2 (16.7)  
Benefits paid (11.7) (12.1)  
End of year 172.5 174.3 192.3
Fair value of plan assets      
Beginning of year 162.7 177.3  
Actual return on plan assets 11.2 (3.5)  
Company contributions 1.0 1.0  
Benefits paid (11.7) (12.1)  
End of year 163.2 162.7 $ 177.3
(Unfunded) funded status end of year (9.3) (11.6)  
Accumulated benefit obligation at end of year 171.5 173.5  
Executive supplemental and director defined benefit pension plans      
Projected benefit obligation      
Beginning of year 21.3    
End of year 21.7 21.3  
Fair value of plan assets      
Beginning of year 0.0    
Company contributions 0.0 0.0  
End of year $ 0.0 $ 0.0