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Stock-Based Compensation - Unvested restricted stock and deferred shares activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Other Disclosures |  |  |
Total unrecognized compensation cost related to the unvested awards | $ 16.2 |  |
Total weighted average remaining term of unvested awards | 1 year 7 months 13 days |  |
Compensation cost recognized | $ 13.4 | $ 10.9 | $ 8.6
Performance stock units |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Unvested at beginning of year (in shares) | 201 | 107 |
Granted (in shares) | 107 | 106 |
Cancelled/Forfeitures (in shares) | (41) | (12) |
Unvested at end of year (in shares) | 267 | 201 | 107
Weighted Average Grant Date Fair Value |  |  |
Unvested at beginning of period (in dollars per share) | $ 57.98 | $ 56.97 |
Granted (in dollars per share) | 55.27 | 58.94 |
Cancelled/Forfeitures (in dollars per share) | 57.56 | 57.51 |
Unvested at end of period (in dollars per share) | $ 56.96 | $ 57.98 | $ 56.97
Other Disclosures |  |  |
Total unrecognized compensation cost related to the unvested awards | $ 6.3 |  |
Total weighted average remaining term of unvested awards | 1 year 6 months 11 days |  |
Compensation cost recognized | $ 4.0 | $ 1.7 |
Aggregate intrinsic value of outstanding awards | $ 17.4 |  |
Performance stock units | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 65.20 |  |
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock and deferred shares |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Unvested at beginning of year (in shares) | 244 | 214 | 260
Granted (in shares) | 140 | 180 | 151
Cancelled/Forfeitures (in shares) | (132) | (28) | (95)
Vested (in shares) | (42) | (122) | (102)
Unvested at end of year (in shares) | 210 | 244 | 214
Weighted Average Grant Date Fair Value |  |  |
Unvested at beginning of period (in dollars per share) | $ 52.61 | $ 53.74 | $ 45.58
Granted (in dollars per share) | 56.33 | 50.87 | 56.79
Cancelled/Forfeitures (in dollars per share) | 54.43 | 53.99 | 46.83
Vested (in dollars per share) | 53.10 | 51.72 | 44.87
Unvested at end of period (in dollars per share) | $ 53.79 | $ 52.61 | $ 53.74
Other Disclosures |  |  |
Total fair value of shares vested | $ 7.9 | $ 6.6 | $ 5.9
Total unrecognized compensation cost related to the unvested awards | $ 7.9 |  |
Total weighted average remaining term of unvested awards | 1 year 8 months 19 days |  |
Compensation cost recognized | $ 7.6 | $ 6.7 | $ 4.8
Aggregate intrinsic value of outstanding awards | $ 13.7 |  |
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock and deferred shares | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 65.20 |  |
Management Stock Purchase Plan | Restricted stock | Class A |  |  |
Other Disclosures |  |  |
Company's closing Common Stock price (in dollars per share) | $ 65.20 |  |
Management Stock Purchase Plan | Restricted stock units (RSUs) |  |  |
Summary of unvested restricted stock and deferred shares activity and related information |  |  |
Granted (in shares) | 89 | 60 | 31
Cancelled/Forfeitures (in shares) | (28) | (9) | (32)
Weighted Average Grant Date Fair Value |  |  |
Granted (in dollars per share) | $ 18.15 | $ 19.04 | $ 22.57
Other Disclosures |  |  |
Total unrecognized compensation cost related to the unvested awards | $ 1.5 |  |
Total weighted average remaining term of unvested awards | 1 year 9 months 18 days |  |
Compensation cost recognized | $ 0.7 | $ 0.6 | $ 0.5
Aggregate intrinsic value of outstanding awards | 4.3 |  |
Dividend declared and unpaid | $ 0.1 |  |

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