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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Operating Loss Carryforwards [Line Items]      
State net operating loss carryforwards, expiration period 19 years    
Foreign operating loss carryforwards, expiration period 20 years    
Operating loss carryforwards, valuation allowance $ 22.1 $ 20.5  
Amount of deferred taxes not recognized 65.0    
Amount of temporary difference due to repatriation of earnings from sale or liquidation of subsidiary 222.9    
Unrecognized tax benefits that, if recognized, would affect effective tax rate 26.0 25.3 $ 26.4
Accrued income tax interest and related charges 1.4 1.8 $ 1.6
State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 489.7    
Foreign Tax Authority      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 55.1    
Tax credit carryforward 10.0    
Foreign Tax Authority | Valuation Allowance, Operating Loss Carryforwards      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards, valuation allowance 22.1    
Increase (decrease) in valuation allowance, state net operating loss carryforward and realized deferred tax benefit (1.6) $ (2.1)  
Foreign Tax Authority | Expire in 2036 Tax Year      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 47.7