Stock-Based Compensation (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2016 USD ($) item $ / shares shares	Dec. 31, 2015 USD ($) $ / shares shares	Dec. 31, 2014 USD ($) $ / shares shares
Stock-based compensation
Total unrecognized compensation cost related to the unvested awards | $	$ 16.2
Total weighted average remaining term of unrecognized compensation costs	1 year 7 months 13 days
Compensation cost recognized | $	$ 13.4	$ 10.9	$ 8.6
Class A
Stock-based compensation
Shares available for future grants of new equity awards | shares	1,402,580
Performance stock units
Stock-based compensation
Total unrecognized compensation cost related to the unvested awards | $	$ 6.3
Total weighted average remaining term of unrecognized compensation costs	1 year 6 months 11 days
Compensation cost recognized | $	$ 4.0	$ 1.7
Fair value assumptions
Weighted average grant-date fair value (in dollars per share)	$ 55.27	$ 58.94
Performance stock units | Class A
Weighted Average Intrinsic Value
Company's closing Common Stock price (in dollars per share)	$ 65.20
Second Amended and Restated 2004 Stock Incentive Plan
Stock-based compensation
Number of stock incentive plans | item	1
Second Amended and Restated 2004 Stock Incentive Plan | Stock options
Stock-based compensation
Vesting period	4 years
Percentage of stock options becoming exercisable	25.00%
Expiration period (years)	10 years
Total unrecognized compensation cost related to the unvested awards | $	$ 0.6
Total weighted average remaining term of unrecognized compensation costs	7 months 6 days
Compensation cost recognized | $	$ 1.1	$ 1.9	$ 2.6
Summary of stock option activity and related information
Outstanding at beginning of year (in shares) | shares	362,000	495,000	1,029,000
Granted (in shares) | shares			114,000
Cancelled/Forfeitures (in shares) | shares	(43,000)	(69,000)	(306,000)
Exercised (in shares) | shares	(189,000)	(64,000)	(342,000)
Outstanding at end of year (in shares) | shares	130,000	362,000	495,000
Exercisable at end of year (in shares) | shares	82,000	192,000	128,000
Weighted Average Exercise Price
Outstanding at beginning of year (in dollars per share)	$ 48.46	$ 47.34	$ 41.66
Granted (in dollars per share)			57.58
Cancelled/Forfeitures (in dollars per share)	52.93	51.66	44.19
Exercised (in dollars per share)	43.31	36.29	36.48
Outstanding at end of year (in dollars per share)	54.46	48.46	47.34
Exercisable at end of year (in dollars per share)	53.38	$ 45.10	$ 40.04
Weighted Average Intrinsic Value
Outstanding at end of year (in dollars per share)	10.74
Exercisable at end of year (in dollars per share)	$ 11.82
Aggregate intrinsic values of exercisable options (in dollars) | $	$ 1.0
Total intrinsic value of options exercised | $	$ 3.5	$ 1.2	$ 8.2
Fair value assumptions
Expected life (years)			6 years
Expected stock price volatility (as a percent)			37.50%
Expected dividend yield (as a percent)			1.00%
Risk-free interest rate (as a percent)			1.90%
Weighted average grant-date fair value of stock options (in dollars per share)			$ 20.04
Second Amended and Restated 2004 Stock Incentive Plan | Stock options | Class A
Stock-based compensation
Minimum exercise price as percentage of fair market value of common stock on grant date	100.00%
Weighted Average Intrinsic Value
Company's closing Common Stock price (in dollars per share)	$ 65.20
Second Amended and Restated 2004 Stock Incentive Plan | Stock options | Grants in 2014
Stock-based compensation
Expiration period (years)			3 years
Vesting rate per year for maximum vesting period			0.33
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock | Maximum
Stock-based compensation
Vesting period	3 years
Vesting rate per year for maximum vesting period	0.33
Second Amended and Restated 2004 Stock Incentive Plan | Restricted stock | Grants in 2014 | Maximum
Stock-based compensation
Vesting period	2 years
Percentage of stock options becoming exercisable	50.00%
Second Amended and Restated 2004 Stock Incentive Plan | Deferred shares
Stock-based compensation
Vesting period	3 years
Vesting rate per year for maximum vesting period	0.33
Second Amended and Restated 2004 Stock Incentive Plan | Deferred shares | Grants in 2014
Stock-based compensation
Vesting period	2 years
Percentage of stock options becoming exercisable	50.00%
Management Stock Purchase Plan | Class A
Stock-based compensation
Purchase price as percentage of fair market value of common stock on grant date	67.00%
Increase in purchase price (as a percent)	80.00%
Shares authorized | shares	2,000,000
Shares available for future grants of new equity awards | shares	803,562
Management Stock Purchase Plan | Restricted stock | Class A
Weighted Average Intrinsic Value
Company's closing Common Stock price (in dollars per share)	$ 65.20
Management Stock Purchase Plan | Restricted stock units (RSUs)
Stock-based compensation
Total unrecognized compensation cost related to the unvested awards | $	$ 1.5
Total weighted average remaining term of unrecognized compensation costs	1 year 9 months 18 days
Compensation cost recognized | $	$ 0.7	$ 0.6	$ 0.5
Fair value assumptions
Expected life (years)	3 years	3 years	3 years
Expected stock price volatility (as a percent)	24.80%	23.40%	31.20%
Expected dividend yield (as a percent)	1.30%	1.20%	0.90%
Risk-free interest rate (as a percent)	0.90%	1.10%	0.70%
Weighted average grant-date fair value (in dollars per share)	$ 18.15	$ 19.04	$ 22.57
Management Stock Purchase Plan | Restricted stock units (RSUs) | Minimum
Stock-based compensation
Vesting period	3 years