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Stock-Based Compensation - Vesting and Deferred Compensation Plan (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Stock options |  |  |
Number of Shares |  |  |
Outstanding at the beginning of the period (in shares) | 1,263,665 |  |
Stock options granted (in shares) | 364,675 |  |
Options exercised (in shares) | (165,959) |  |
Options forfeited (in shares) | (31,069) |  |
Outstanding at the end of the period (in shares) | 1,431,312 | 1,263,665 |
Vested and exercisable at the end of the period (in shares) | 732,408 |  |
Weighted Average Price |  |  |
Outstanding at the beginning of the period (in dollars per share) | $ 70.95 |  |
Options granted (in dollars per share) | 107.63 |  |
Options exercised (in dollars per share) | 56.61 |  |
Options forfeited (in dollars per share) | 92.49 |  |
Outstanding at the end of the period (in dollars per share) | 81.49 | $ 70.95 |
Vested and exercisable at the end of the period (in dollars per share) | $ 66.24 |  |
Weighted average contractual term | 6 years 9 months 18 days |  |
The weighted average contractual term of options exercisable | 5 years 2 months 12 days |  |
Aggregate intrinsic value of options outstanding | $ 46.2 |  |
Aggregate intrinsic value of options vested and exercisable | 34.7 |  |
Stock-based compensation expense |  |  |
Unrecognized compensation cost related to awards other than options | $ 5.1 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 10 months 13 days |  |
Award Activity |  |  |
Units granted (in shares) | 364,675 |  |
Performance share awards |  |  |
Vesting period of shares awarded under the Program | 3 years |  |
Restricted stock awards |  |  |
Stock-based compensation expense |  |  |
Unrecognized compensation cost related to awards other than options | $ 9.0 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 2 years 1 month 6 days |  |
Award Activity |  |  |
Outstanding balance at the beginning of the period (in shares) | 225,265 |  |
Units granted (in shares) | 91,098 |  |
Units vested and issued (in shares) | (105,282) |  |
Units forfeited (in shares) | (2,760) |  |
Outstanding balance at the end of the period (in shares) | 208,321 | 225,265 |
Performance share awards |  |  |
Units or shares outstanding (in dollars per share) | $ 95.63 | $ 82.59 |
Units or shares granted (in dollars per share) | 106.78 | $ 84.73 | $ 90.54
Units or shares vested and issued (in dollars per share) | 77.41 |  |
Units or shares forfeited (in dollars per share) | $ 94.21 |  |
Vesting period of shares awarded under the Program | 3 years |  |
Fair value of shares vested during year ended December 31 | $ 11.4 |  |
Performance share awards |  |  |
Stock-based compensation expense |  |  |
Unrecognized compensation cost related to awards other than options | $ 6.7 |  |
Weighted average period of recognition of unrecognized compensation cost related to restricted stock awards | 1 year 7 months 28 days |  |
Award Activity |  |  |
Outstanding balance at the beginning of the period (in shares) | 219,559 |  |
Units granted (in shares) | 47,285 |  |
Units converted (withheld) (in shares) | (8,786) |  |
Units vested and issued (in shares) | (86,619) |  |
Units vested and deferred (in shares) | (17,413) |  |
Units forfeited (in shares) | (2,760) |  |
Outstanding balance at the end of the period (in shares) | 151,266 | 219,559 |
Performance share awards |  |  |
Units or shares outstanding (in dollars per share) | $ 123.99 |  |
Units or shares granted (in dollars per share) | 141.83 | $ 119.08 | $ 112.39
Units converted (withheld) (in dollars per share) | 112.39 |  |
Units or shares vested and issued (in dollars per share) | 95.72 |  |
Units vested and deferred (in dollars per share) | 95.72 |  |
Units or shares forfeited (in dollars per share) | $ 126.66 |  |
Vesting period of shares awarded under the Program | 3 years |  |
Fair value of shares vested during year ended December 31 | $ 11.6 |  |
Measurement period | 3 years |  |
Performance share awards | 2016 Awards |  |  |
Award Activity |  |  |
Units granted (in shares) | 47,285 |  |
Restricted Stock Units |  |  |
Award Activity |  |  |
Units granted (in shares) | 13,399 | 14,359 | 12,157
Performance share awards |  |  |
Units or shares granted (in dollars per share) | $ 107.87 | $ 83.31 | $ 90.54
Deferred Compensation Equity |  |  |
Performance share awards |  |  |
Number of common stock deferred (in shares) | 280,982 | 294,574 |

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