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Stock Plans - Stock Option Activity (Details) - Stock option Awards - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Number of Shares      
Outstanding at the beginning of the period (in shares) 2,064,000 2,391,000 2,598,000
Granted (in shares) 0 17,000 509,000
Exercised (in shares) (194,000) (192,000) (561,000)
Expired or forfeited (in shares) (294,000) (152,000) (155,000)
Outstanding at the end of the period (in shares) 1,576,000 2,064,000 2,391,000
Weighted Average Exercise price      
Outstanding at the beginning of the period (in dollars per share) $ 32.91 $ 31.65 $ 29.98
Granted (in dollars per share)   30.22 33.05
Exercised (in dollars per share) 12.18 12.95 23.88
Expired or forfeited (in dollars per share) 34.44 38.15 36.22
Outstanding at the end of the period (in dollars per share) $ 35.18 $ 32.91 $ 31.65