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Earnings Per Share - Schedule of Reconciliation of the Numerator and Denominator used in the Calculation of Basic and Diluted Earnings per Share (Details) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2015
Sep. 30, 2015
Jun. 30, 2015
Mar. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Numerator                      
Net income (controlling interest) $ 150.2 $ 110.2 $ 108.3 $ 104.0 $ 147.5 $ 107.7 $ 127.6 $ 126.7 $ 472.8 $ 509.5 $ 433.9
Interest expense on convertible securities, net of taxes                 15.5 15.3 15.2
Net income (controlling interest), as adjusted                 $ 488.3 $ 524.8 $ 449.1
Denominator                      
Average shares outstanding - basic (in shares)                 54.2 54.3 55.0
Effect of dilutive instruments:                      
Stock options and other awards (in shares)                 0.6 0.7 1.2
Forward sale (in shares)                 0.0 0.0 0.0
Junior convertible securities (in shares)                 2.2 2.2 2.2
Average shares outstanding - diluted (in shares)                 57.0 57.2 58.4