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Nature of Business and Significant Accounting Policies (Details 5)
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Stock Option Awards      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Risk-free interest rate 0.90% 0.20% 1.00%
Expected dividend yield 1.60% 1.40% 1.20%
Expected term 4 years 3 months 4 years 1 month 4 years 5 months
Expected volatility 25.60% 26.60% 28.70%
Performance-based restricted stock unit [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Expected dividend yield 1.60%    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions 9.90%    
Market-based restricted stock unit      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Risk-free interest rate 0.90% 0.90%  
Expected dividend yield 1.60% 1.40%  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions 9.90% 10.90%  
Expected term 4 years 4 years  
Expected volatility 25.80% 27.50%  
Expected volatility of S&P 500 25.00% 23.40%  
Employee Stock Purchase Plan (ESPP)      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used [Line Items]      
Risk-free interest rate 0.50% 0.40% 0.30%
Expected dividend yield 1.50% 1.50% 1.20%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions 10.50%    
Expected term 6 months 6 months 6 months
Expected volatility 27.00% 21.50% 23.90%