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Equity (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2017
Jun. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Equity [Abstract]          
Stock repurchased (in shares)       6,868,424  
Common stock issued under stock compensation plan (in shares)       3,110,764  
Net decrease in period (in shares)       3,757,660  
Increase in quarterly cash dividend rate (in dollars per share)   $ 0.01      
Dividends declared (in dollars per share) $ 0.10   $ 0.09 $ 0.29 $ 0.265
Dividends declared $ 28.4