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Income Taxes - Valuation Allowance (Details) - USD ($) $ in Millions | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013
--- | --- | --- | --- | ---
Valuation allowance |  |  |  |
Valuation allowance | $ 119.0 | $ 95.6 |  |
Estimated cumulative amount of earnings from foreign subsidiaries that are permanently invested | 606.9 |  |  |
Cash and cash equivalents held by foreign subsidiaries | 115.1 | 128.7 | $ 171.8 | $ 153.7
Foreign Subsidiaries |  |  |  |
Valuation allowance |  |  |  |
Cash and cash equivalents held by foreign subsidiaries | 75.0 | 80.8 |  |
FTC |  |  |  |
Valuation allowance |  |  |  |
Valuation allowance | 12.7 | 12.7 |  |
Federal |  |  |  |
Valuation allowance |  |  |  |
Valuation allowance | 27.3 | 0.0 |  |
State |  |  |  |
Valuation allowance |  |  |  |
Valuation allowance | 41.3 | 34.1 |  |
Foreign |  |  |  |
Valuation allowance |  |  |  |
Valuation allowance | $ 37.7 | $ 48.8 |  |

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