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Financial Assets and Financial Liabilities Measured at Fair Value (Details) - USD ($)
$ in Millions
Mar. 31, 2017
Dec. 31, 2016
Carrying Value    
Carrying values and estimated fair values of long-term debt, including current maturities    
Total long-term debt $ 1,536.7 $ 1,527.8
Fair Value | (Level 2)    
Carrying values and estimated fair values of long-term debt, including current maturities    
Total long-term debt $ 1,597.0 $ 1,592.3