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Summary of Significant Accounting Policies - Shareholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Millions
 1 Months Ended 12 Months Ended
Jan. 31, 2016
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Jul. 28, 2016
Oct. 29, 2015
Equity, Class of Treasury Stock [Line Items]            
Shares authorized to be repurchased (in shares)         6,000,000.0 6,000,000
Shares repurchased (in shares)   1,900,000 6,600,000 6,700,000    
Total cost of shares repurchased $ 7.7 $ 203.9 $ 482.2 $ 587.9    
Dividends declared (in dollars per share)   $ 1.86 $ 1.72 $ 1.60    
Total dividend payments   $ 123.7 $ 118.4 $ 121.0    
Net earnings, net of tax, attributable to noncontrolling interests   $ 6.5 $ 10.1 $ 6.6    
2012 Authorization            
Equity, Class of Treasury Stock [Line Items]            
Shares repurchased (in shares)       6,000,000    
2015 Authorization            
Equity, Class of Treasury Stock [Line Items]            
Shares repurchased (in shares)     5,300,000 700,000    
Shares remaining authorized for repurchase (in shares)   0        
2016 Authorization            
Equity, Class of Treasury Stock [Line Items]            
Shares repurchased (in shares)     1,300,000      
Shares remaining authorized for repurchase (in shares)   2,800,000