Fair value measurements Fair value measurements insurance contracts (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Fair Value Disclosures [Abstract]
Investments used to satisfy nonqualified benefit plans obligations	$ 70.9	$ 67.5
Net unrealized gain (loss) of investments used to satisfy obligations under nonqualified benefit plans	$ 3.4	$ 1.7	$ 3.4

This item represents the amount that could be realized under a life insurance contract or contracts owned by the Entity as of the date of the statement of financial position. Such Entity-owned life insurance policies are commonly known as corporate-owned life insurance (COLI) or bank-owned life insurance (BOLI).

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.12)
-URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 325
-SubTopic 30
-Section 25
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=6384206&loc=d3e41899-111602

Name:	us-gaap_LifeInsuranceCorporateOrBankOwnedAmount
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant