Guarantees - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015
Guarantees [Abstract]
Deferred revenue included in other current and non-current liabilities	$ 30.4	$ 43.0
Amount of residual value guarantees and buyback commitments given by the company	$ 32.8	$ 42.9
Standard product warranty, low end of range (in months)	12 months
Standard product warranty, high end of range (in months)	60 months