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Stockholders' Equity Reclassifications from Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Income tax benefit $ (1.4) $ 17.4 $ 34.1 $ 23.7
Total reclassifications for the period, net of tax   (11.7) (4.8)  
Reclassification out of Accumulated Other Comprehensive Income        
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Actuarial loss (gain)   (6.2) (7.4)  
Income tax benefit   2.2 2.6  
Total reclassifications for the period, net of tax   (4.0) (4.8)  
Selling, General and Administrative Expenses | Reclassification out of Accumulated Other Comprehensive Income        
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Actuarial loss (gain)   0.0 0.1  
Accumulated Defined Benefit Plans Adjustment, Net Unamortized Gain (Loss) | Reclassification out of Accumulated Other Comprehensive Income        
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Actuarial loss (gain)   $ 6.2 $ 7.5