Commitments and Contingencies - Leases, Purchase Commitments, License Agreements (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Operating Leases
Total rental expense under operating leases	$ 22.0	$ 23.0	$ 22.8
Future minimum lease payments under non-cancelable operating leases
2017	20.9
2018	14.6
2019	10.9
2020	8.9
2021	6.6
Thereafter	14.0
Total	75.9
Capital Leases
Cost of the buildings under the capital leases		2.7
Accumulated amortization of the leased buildings		0.7
Unconditional Purchase Commitments
Aggregate amount of unconditional purchase commitments	149.3
License Agreements
Income from cross-licensing agreements	1.9	2.5	2.6
Licensing fees	$ 3.0	$ 3.2	$ 3.3