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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2017
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Restricted Stock Unit Activity
The following table summarizes information about vested and unvested RSUs for 2017:
 
RSUs
 
Shares
(in actual number of shares)
 
Weighted-Average
Grant Date
Fair Value
Nonvested at January 1
—

 
$
—

Granted (1)
632,255

 
$
43.66

Vested
(45,657
)
 
$
49.28

Forfeited
(66,989
)
 
$
43.30

Nonvested at December 31
519,609

 
$
43.22

(1) 
The RSUs granted during 2017 are primarily related to our employee annual equity award grant in April 2017 and non-employee director annual equity award grant in January 2017.
Weighted Average Grant-Date Fair Value of Restricted Stock Units Granted and Total Fair Value of Restricted Stock Units Vested
The weighted average grant-date fair value of RSUs and total fair value of RSUs vested are summarized in the following table:
 
2017
 
2016
 
2015
Weighted average grant-date fair value of RSUs granted
$
43.66

 
$
58.69

 
$
60.04

Total fair value of RSUs vested (in millions)
$
2.2

 
$
2.3

 
$
2.7
Assumptions Used Related to Valuation of Stock Options
The following table summarizes the assumptions used related to the valuation of our stock options granted during 2016 and 2015:
 
2016
 
2015
Risk-free interest rate
1.16% - 1.55%

 
0.76% - 1.86%

Expected dividend yield
—

 
—

Expected term
4 - 7 years

 
2 - 7 years

Expected volatility
29% - 31%

 
24% - 34%
Stock Option Activity
The following table summarizes stock option activity during 2017:
 
Stock Options
 
Shares
(in millions)
 
Weighted-
Average
Exercise Price
 
Weighted-
Average
Remaining
Contractual
Term (Years)
 
Aggregate
Intrinsic Value
(in millions)
Options outstanding at January 1
5.2

 
$
46.99

 
 
 
 
Granted
—

 
$
—

 
 
 
 
Exercised
(1.0
)
 
$
37.85

 
 
 
 
Forfeited
(0.2
)
 
$
56.35

 
 
 
 
Expired
(0.3
)
 
$
54.91

 
 
 
 
Options outstanding as of December 31
3.7

 
$
48.49

 
5.82
 
$
23.4

Options exercisable at December 31
2.7

 
$
45.65

 
5.19
 
$
23.5

Options exercisable at December 31 and expected to vest thereafter
3.7

 
$
48.52

 
5.76
 
$
23.5

Options available for future grants at December 31
5.4

 
 
 
 
 
 
Weighted Average Grant-Date Fair Value of Stock Options Granted and Total Intrinsic Value of Stock Options Exercised
The weighted average grant-date fair value of stock options granted and total intrinsic value of stock options exercised are summarized in the following table:
 
2017
 
2016
 
2015
Weighted average grant-date fair value of stock options granted
$
—

 
$
17.96

 
$
19.38

Total intrinsic value of stock options exercised (in millions)
$
11.9

 
$
5.3

 
$
51.9
Restricted Stock Activity
The following table summarizes information about vested and unvested restricted stock for 2017:
 
Restricted Stock
 
Shares
(in actual number of shares)
 
Weighted-Average
Grant Date
Fair Value
Nonvested at January 1
266,906

 
$
54.23

Granted
—

 
$
—

Vested
(100,341
)
 
$
51.99

Forfeited
(18,634
)
 
$
55.10

Nonvested at December 31
147,931

 
$
55.65
Weighted Average Grant-Date Fair Value of Restricted Stock Awards Granted and Total Fair Value of Restricted Stock Awards Vested
The weighted average grant-date fair value of restricted stock awards granted and total fair value of restricted stock awards vested are summarized in the following table:
 
2017
 
2016
 
2015
Weighted average grant-date fair value of restricted stock awards granted
$
—

 
$
52.23

 
$
62.54

Total fair value of restricted stock awards vested (in millions)
$
4.2

 
$
6.4

 
$
8.8
Total Stock-Based Compensation Expense
The following table summarizes the total stock-based compensation expense recognized in Selling, General, and Administrative Expenses in the Consolidated Statements of Income and the total recognized tax benefit related thereto:
 
2017
 
2016
 
2015
RSUs
$
14.2

 
$
2.3

 
$
2.7

Stock options
3.1

 
16.2

 
14.8

Restricted stock
3.3

 
6.6

 
6.5

Total stock-based compensation expense
$
20.6

 
$
25.1

 
$
24.0

 
 
 
 
 
 
Tax benefit related to stock-based compensation expense
$
7.8

 
$
9.6

 
$
9.2