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Consolidated Statements of Accumulated Other Comprehensive Loss (Parenthetical) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Accumulated Other Comprehensive Income (Loss), Net of Tax [Abstract]      
Unrecognized actuarial net losses, tax $ 19.4 $ 20.5 $ 22.2