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Accounts Receivable Securitization Programs (Details) | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2017 USD ($) | Sep. 30, 2016 USD ($) | Sep. 30, 2017 USD ($) bank | Sep. 30, 2016 USD ($) | Sep. 30, 2017 EUR (€) | Sep. 30, 2017 USD ($) | Dec. 31, 2016 USD ($)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Interest expense | $ 54,000,000 | $ 49,600,000 | $ 153,700,000 | $ 151,400,000 |  |  |
U.S. Accounts Receivable Securitization Program |  |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Interest expense | $ 600,000 | $ 400,000 | $ 1,000,000 | $ 1,100,000 |  |  |
U.S. Accounts Receivable Securitization Program | U.S. Program |  |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank |  |  | 2 |  |  |  |
Level of eligible assets available under accounts receivable securitization program |  |  | $ 60,000,000 |  |  |  |
Amount available for accounts receivable securitization program |  |  |  |  |  | $ 60,000,000 |
Amount utilized under accounts receivable securitization program |  |  |  |  |  | 0 | $ 0
U.S. Accounts Receivable Securitization Program | Maximum | U.S. Program |  |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Maximum purchase limit for receivable interests under accounts receivable securitization program |  |  |  |  |  | 60,000,000 |
European Accounts Receivable Securitization Program | European Program |  |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Amount available for accounts receivable securitization program |  |  |  |  | € 79,200,000 | 93,300,000 |
European Accounts Receivable Securitization Program | Maximum | European Program |  |  |  |  |  |  |
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items] |  |  |  |  |  |  |
Maximum purchase limit for receivable interests under accounts receivable securitization program |  |  |  |  | € 80,000,000 | $ 94,300,000 |

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