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Income Taxes - Domestic and Foreign Income (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Tax Disclosure [Abstract]      
U.S. $ 626.6 $ 573.3 $ 557.0
Foreign 27.1 110.8 5.5
Income before income taxes $ 653.7 $ 684.1 $ 562.5