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Stock Incentive Plans (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Mar. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate   1.31% 1.07% 0.76%
Aggregate shares of common stock authorized for issuance under the 2007 stock incentive plan   3,282,170    
Remaining shares available for grant   2,448,067    
Share-based compensation   $ 18.1 $ 18.4 $ 12.4
Unrecorded compensation cost   $ 18.3    
Weighted average remaining contractual terms   11 months 15 days    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate   16.30% 15.10% 19.70%
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Payout Percentage 94.70% 93.70% 59.50%  
Time Based Shares [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Units granted, weighted average grant date fair value   $ 45.56 $ 45.18 $ 40.65
Units paid, weighted average grant date fair value   31.58    
Units canceled, weighted average grant date fair value   42.99    
Outstanding units granted, weighted average grant date fair value   $ 42.05 $ 35.55  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Outstanding units granted at the beginning of the year 746 1,425    
Units granted   212    
Units paid   (854)    
Units canceled   (37)    
Outstanding units granted at the end of the year   746 1,425  
Performance Shares [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Units granted, weighted average grant date fair value   $ 48.48 $ 53.14 $ 46.42
Units paid, weighted average grant date fair value   37.32    
Units canceled, weighted average grant date fair value   41.89    
Outstanding units granted, weighted average grant date fair value   $ 49.43 $ 44.68  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Outstanding units granted at the beginning of the year 438 333    
Units granted   241    
Units paid   (122)    
Units canceled   (14)    
Outstanding units granted at the end of the year   438 333  
Continuing Operations [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation   $ 18.1 $ 18.4 $ 14.0