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Financial Assets and Financial Liabilities Measured at Fair Value (Details) - USD ($)
$ in Millions
Dec. 31, 2016
Dec. 31, 2015
Carrying Value    
Carrying values and estimated fair values of long-term debt, including current maturities    
Total long-term debt $ 1,527.8 $ 1,353.9
Fair Value | (Level 2)    
Carrying values and estimated fair values of long-term debt, including current maturities    
Total long-term debt $ 1,592.3 $ 1,421.6