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Savings Plans (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Domestic Tax Authority |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans |  |  |
Cost Recognized | $ 47.0 | $ 44.5 | $ 43.0
Discretionary Company Contribution |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans |  |  |
Cost Recognized | 6.1 | 5.8 | 5.2
Defined Contribution Plans Participant Forfeitures |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans |  |  |
Cost Recognized | 4.4 | 3.8 | 3.6
Foreign Tax Authority |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans |  |  |
Cost Recognized | $ 44.5 | $ 43.9 | $ 42.4

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- Definition The amount of the cost recognized during the period for defined contribution plans. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 70 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=49170846&loc=d3e28014-114942 + Details
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