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Commitments, Contingencies, and Uncertainties (Tables)
 12 Months Ended
Dec. 31, 2016
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Future Minimum Rental Payments for Operating Leases [Table Text Block]
At December 31, 2016, we were committed under noncancelable lease agreements requiring minimum annual rentals payable as follows:
(in millions)
2017
2018
2019
2020
2021
Thereafter
Minimum annual rentals
$
107.4

$
88.4

$
61.4

$
39.5

$
18.9

$
19.1