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Intrinsic Value of Options Exercised and Fair Value of Options Vested (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award      
Intrinsic Value of Options Exercised $ 3.4 $ 5.6 $ 4.0
Fair Value of Options Vested $ 0.1 $ 1.1 $ 2.4