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Earnings Per Share - Diluted Earnings per Share Calculations Excluding the Anti-dilutive Effect of Shares (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Stock Options and Other Awards      
Antidilutive Securities Excluded from Computation of Earnings Per Share      
Antidilutive securities excluded from computation of earnings per share (in shares) 0.6 0.0 0.0
Junior Convertible Securities      
Antidilutive Securities Excluded from Computation of Earnings Per Share      
Antidilutive securities excluded from computation of earnings per share (in shares) 0.0 0.0 0.4