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Retirement and Security Bonus Plans Retirement and Security Bonus Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Compensation and Retirement Disclosure [Abstract]      
401k Employer matching contributions $ 3.1 $ 2.9 $ 2.9
Employer contributions, profit sharing retirement plan 0.6 0.8 0.6
Retirement and Security Bonus Plans      
Cash Surrender Value, Fair Value Disclosure $ 3.3    
Security bonus plan      
Retirement and Security Bonus Plans      
Initial vesting percentage 25.00%    
Minimum vesting period 5 years    
Annual vesting percentage after initial period 5.00%    
Expense recognized $ 0.4 $ 0.4 $ 0.6