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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2016 | Sep. 30, 2015 | Sep. 30, 2016 | Sep. 30, 2015 | Dec. 31, 2015
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Effective income tax rate | 33.80% | 31.70% | 33.10% | 27.70% |
Federal statutory tax rate |  |  | 35.00% |  |
Tax credit carryforwards |  |  |  |  | $ 19.5
Liability for uncertain tax positions | $ 2.8 |  | $ 2.8 |  | 1.4
Continuing Operations |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Liability for uncertain tax positions | 1.6 |  | 1.6 |  | 0.3
Unrecognized tax positions to be released in the next 12 months | 0.1 |  | 0.1 |  |
Discontinued Operations |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Liability for uncertain tax positions | 1.2 |  | 1.2 |  | 1.1
Unrecognized tax positions to be released in the next 12 months | $ 1.2 |  | $ 1.2 |  |
Foreign Income Tax Credit | Foreign Tax Authority |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |
Tax credit carryforwards |  |  |  |  | $ 9.2
Tax credit carryforward expiration period |  |  | 10 years |  |
Tax credit carryforward expiration year |  |  | 2020 |  |

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