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Earnings Per Common Share - Textual (Details) - USD ($)
$ / shares in Units, $ in Millions
 1 Months Ended 12 Months Ended
Apr. 22, 2015
Jul. 17, 2014
Sep. 30, 2009
May 31, 2017
Jan. 17, 2017
Oct. 31, 2016
Jul. 31, 2016
Jul. 31, 2015
Jul. 31, 2013
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Apr. 23, 2015
Feb. 14, 2014
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]                            
Antidilutive shares excluded from computation of diluted weighted-average shares (shares)                   100,000 100,000      
Common stock repurchased                   $ 65.6 $ 45.3 $ 43.1    
Cash dividends declared per common share (in dollars per share)   $ 0.21       $ 0.24 $ 0.24 $ 0.23 $ 0.18 $ 0.94 $ 0.88 $ 0.78    
Cash dividends paid per common share (dollars per share)           $ 0.24                
Preferred stock conversion rate (shares for each share)                         $ 33.9905  
Common stock, par value (in dollars per share)                   $ 0.01 $ 0.01   $ 0.01  
Common stock issued (shares)     5,000,000                      
Common stock warrants issued     8,200,000             8,200,000        
Exercise price of warrants (in dollars per share)     $ 41.40             $ 41.40        
Subsequent Event [Member]                            
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]                            
Cash dividends paid per common share (dollars per share)         $ 0.24                  
Common stock issued and delivered (shares)       8,900,000                    
Common stock issued (shares)         700,000                  
Common stock warrants issued         0                  
Exercise price of warrants (in dollars per share)         $ 41.40                  
Proceeds from exercising stock warrants         $ 26.7                  
Common Stock [Member]                            
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]                            
Common stock repurchase authorization                     $ 200.0     $ 250.0
Common stock repurchased (shares)                   1,700,000 1,300,000 1,300,000    
Common stock repurchased                   $ 65.6 $ 45.3 $ 43.1    
Accrued common stock dividends                   $ 22.2 $ 21.3      
Common stock issued and delivered (shares) 3,271,415                          
Convertible Preferred Stock [Member]                            
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]                            
Convertible preferred stock par value (in dollars per share) $ 0.10                          
Preferred stock liquidation preference (in dollars per share) $ 1,000                          
Preferred stock outstanding (shares)                         96,245