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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Operating Loss Carryforwards [Line Items]        
Federal income tax at statutory rate (as a percent) 35.00% 35.00% 35.00%  
Change in valuation allowance, deferred tax asset $ 187.0      
Undistributed earnings of consolidated non-U.S. subsidiaries 474.2      
Cash and cash equivalents held by foreign subsidiaries 13.6      
Change to gross unrecognized tax benefits including interest and penalties (0.8) $ (1.9) $ (12.1)  
Uncertain tax liabilities interest and penalties 2.8 (0.5)   $ (2.4)
Uncertain tax liabilities interest and penalties accrued 7.4 $ 4.6    
Unrecognized tax benefits and income tax expense possibly reduced from audit resolutions 11.2      
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 101.5      
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 667.8      
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 341.9      
Net operating loss carryforwards, valuation allowance $ 332.4