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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2016
Dec. 31, 2015
Statement of Financial Position [Abstract]    
Redeemable common stock, par value (in USD per share) $ 0.10 $ 0.10
Redeemable common stock, shares issued (in shares) 100,000 100,000
Redeemable common stock, shares outstanding (in shares) 100,000 100,000
Preference stock, par value (in USD per share) $ 1.00 $ 1.00
Preference stock, shares authorized (in shares) 15,000,000.0 15,000,000.0
Preference stock, shares issued (in shares) 0 0
Preference stock, shares outstanding (in shares) 0 0
Common stock, par value (in USD per share) $ 0.10 $ 0.10
Common stock, shares authorized (in shares) 150,000,000.0 150,000,000.0
Common stock, shares issued (in shares) 69,200,000 62,900,000
Common stock, shares outstanding (in shares) 69,200,000 62,900,000
Treasury stock, shares (in shares) 3,500,000 3,500,000