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Stock-Based Compensation (Details) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2017 USD ($) item $ / shares shares | Dec. 31, 2016 USD ($) $ / shares shares | Dec. 31, 2015 USD ($) $ / shares shares
Stock-based compensation |  |  |
Total unrecognized compensation cost related to the unvested awards | $ | $ 14.8 |  |
Total weighted average remaining term of unrecognized compensation costs | 1 year 6 months 26 days |  |
Compensation cost recognized | $ | $ 13.9 | $ 13.4 | $ 10.9
Class A |  |  |
Stock-based compensation |  |  |
Shares available for future grants of new equity awards | shares | 1,342,858 |  |
Performance stock units |  |  |
Stock-based compensation |  |  |
Granted (in shares) | shares | 98,000 | 107,000 | 106,000
Total unrecognized compensation cost related to the unvested awards | $ | $ 5.3 |  |
Total weighted average remaining term of unrecognized compensation costs | 1 year 6 months 4 days |  |
Compensation cost recognized | $ | $ 4.8 | $ 4.0 | $ 1.7
Fair value assumptions |  |  |
Weighted average grant-date fair value (in dollars per share) | $ 60.45 | $ 55.27 | $ 58.94
Performance stock units | Class A |  |  |
Weighted Average Intrinsic Value |  |  |
Company's closing Common Stock price (in dollars per share) | $ 75.95 |  |
Second Amended and Restated 2004 Stock Incentive Plan |  |  |
Stock-based compensation |  |  |
Number of stock incentive plans | item | 1 |  |
Second Amended and Restated 2004 Stock Incentive Plan | Stock options |  |  |
Stock-based compensation |  |  |
Total unrecognized compensation cost related to the unvested awards | $ | $ 0.0 |  |
Compensation cost recognized | $ | $ 0.5 | $ 1.1 | $ 1.9
Summary of stock option activity and related information |  |  |
Outstanding at beginning of year (in shares) | shares | 130,000 | 362,000 | 495,000
Cancelled/Forfeitures (in shares) | shares | (3,000) | (43,000) | (69,000)
Exercised (in shares) | shares | (32,000) | (189,000) | (64,000)
Outstanding at end of year (in shares) | shares | 95,000 | 130,000 | 362,000
Exercisable at end of year (in shares) | shares | 93,000 | 82,000 | 192,000
Weighted Average Exercise Price |  |  |
Outstanding at beginning of year (in dollars per share) | $ 54.46 | $ 48.46 | $ 47.34
Cancelled/Forfeitures (in dollars per share) | 55.81 | 52.93 | 51.66
Exercised (in dollars per share) | 53.19 | 43.31 | 36.29
Outstanding at end of year (in dollars per share) | 54.91 | 54.46 | 48.46
Exercisable at end of year (in dollars per share) | 54.85 | $ 53.38 | $ 45.10
Weighted Average Intrinsic Value |  |  |
Outstanding at end of year (in dollars per share) | 21.04 |  |
Exercisable at end of year (in dollars per share) | $ 21.10 |  |
Aggregate intrinsic values of exercisable options (in dollars) | $ | $ 2.0 |  |
Total intrinsic value of options exercised | $ | $ 0.5 | $ 3.5 | $ 1.2
Second Amended and Restated 2004 Stock Incentive Plan | Stock options | Class A |  |  |
Weighted Average Intrinsic Value |  |  |
Company's closing Common Stock price (in dollars per share) | $ 75.95 |  |
Management Stock Purchase Plan |  |  |
Stock-based compensation |  |  |
Percentage of annual incentive bonus that may be used to purchase RSU's | 50.00% |  |
Purchase price as percentage of fair market value of common stock on grant date | 80.00% |  | 67.00%
Management Stock Purchase Plan | Class A |  |  |
Stock-based compensation |  |  |
Shares authorized | shares | 2,000,000 |  |
Shares available for future grants of new equity awards | shares | 763,233 |  |
Management Stock Purchase Plan | Restricted stock | Class A |  |  |
Weighted Average Intrinsic Value |  |  |
Company's closing Common Stock price (in dollars per share) | $ 75.95 |  |
Management Stock Purchase Plan | Restricted stock units (RSUs) |  |  |
Stock-based compensation |  |  |
Granted (in shares) | shares | 47,000 | 89,000 | 60,000
Total unrecognized compensation cost related to the unvested awards | $ | $ 1.2 |  |
Total weighted average remaining term of unrecognized compensation costs | 1 year 4 months 24 days |  |
Compensation cost recognized | $ | $ 1.0 | $ 0.7 | $ 0.6
Fair value assumptions |  |  |
Expected life (years) | 3 years | 3 years | 3 years
Expected stock price volatility (as a percent) | 25.00% | 24.80% | 23.40%
Expected dividend yield (as a percent) | 1.20% | 1.30% | 1.20%
Risk-free interest rate (as a percent) | 1.50% | 0.90% | 1.10%
Weighted average grant-date fair value (in dollars per share) | $ 16.84 | $ 18.15 | $ 19.04
Management Stock Purchase Plan | Restricted stock units (RSUs) | Minimum |  |  |
Stock-based compensation |  |  |
Vesting period | 3 years |  |

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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