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Summary of Significant Accounting Policies - Antidilutive Securities (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Stock options and restricted stock units      
Anti-dilutive securities      
Number of shares excluded from the computation of diluted earnings per share 0.6 1.3 0.1