Income Taxes Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Tax Credit Carryforward [Line Items]
Income tax credits	$ 30.9	$ 31.9
Net operating loss carryforwards	27.2	31.0
Valuation allowance	22.6	22.0
Undistributed earnings of foreign subsidiaries	890.0
Amount of unrecognized deferred tax liability, undistributed earnings of foreign subsidiaries	200.0
Income taxes paid	117.4	139.1	$ 125.4
Unrecognized tax benefits that would impact effective tax rate	16.0
Unrecognized tax benefits timing of deductibility unknown	1.2
Unrecognized tax benefits, income tax penalties and interest expense	0.7	1.2	$ 1.7
Unrecognized tax benefits, income tax penalties and interest accrued	4.8	$ 4.1
Federal, State, and Local
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	27.2
Tax credit carryforward indefinitely
Tax Credit Carryforward [Line Items]
Income tax credits	11.7
Net operating loss carryforwards	8.6
Carryforward Subject To Expiration
Tax Credit Carryforward [Line Items]
Income tax credits	19.2
Net operating loss carryforwards	18.6
Minimum
Tax Credit Carryforward [Line Items]
Significant (increase) decrease in unrecognized tax benefits is reasonably possible, estimated range of change, upper bound	3.0
Maximum
Tax Credit Carryforward [Line Items]
Significant (increase) decrease in unrecognized tax benefits is reasonably possible, estimated range of change, upper bound	$ 5.0