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Stock-Based Compensation - Stock Award Information and Fair Value Assumptions (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock-based compensation      
Unrecognized compensation cost related to stock options $ 25.4    
Stock-based compensation expense      
Total stock-based compensation cost 34.1 $ 27.5 $ 20.7
Income tax benefit $ 12.9 10.6 12.5
Weighted average period of recognition of unrecognized compensation cost related to stock options 1 year 4 months 24 days    
Executive Incentive Program      
Stock-based compensation      
Shares reserved for grant under the plan (in shares) 4,200,000    
Shares available for grant under the plan (in shares) 1,500,000    
Stock options - annual equity grant      
Stock-based compensation      
Stock options granted (in shares) 460,000    
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 1.60%    
Expected life in years 4 years 10 months 24 days    
Expected volatility (as a percent) 21.30%    
Risk-free interest rate (as a percent) 2.50%    
Weighted average grant date fair value (in dollars per share) $ 21.07    
Fair value of equity awards granted $ 9.7    
Stock options, one-time grant      
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 1.40%    
Expected life in years 3 years 10 months 24 days    
Expected volatility (as a percent) 20.70%    
Risk-free interest rate (as a percent) 2.60%    
Weighted average grant date fair value (in dollars per share) $ 21.91    
Fair value of equity awards granted $ 13.6    
Stock option awards      
Stock-based compensation      
Stock options granted (in shares) 460,000    
Unrecognized compensation cost related to stock options $ 9.8    
Stock-based compensation expense      
Total stock-based compensation cost $ 10.8 $ 11.0 $ 7.7
Maximum term life 10 years    
Vesting period 3 years    
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent)   1.40% 1.30%
Expected life in years   5 years 6 months 5 years 7 months 6 days
Expected volatility (as a percent)   23.10% 25.60%
Risk-free interest rate (as a percent)   2.60% 1.90%
Weighted average grant date fair value (in dollars per share)   $ 23.71 $ 24.57
Fair value of equity awards granted   $ 9.1 $ 8.8
Restricted stock awards      
Stock-based compensation      
Awards granted (in shares) 58,000    
Unrecognized compensation cost related to stock options $ 6.7    
Stock-based compensation expense      
Total stock-based compensation cost $ 7.4 7.7 6.0
Vesting period 3 years    
Weighted average period of recognition of unrecognized compensation cost related to stock options 1 year 7 months 6 days    
Performance share awards      
Stock-based compensation      
Awards granted (in shares) 52,000    
Unrecognized compensation cost related to stock options $ 6.9    
Stock-based compensation expense      
Total stock-based compensation cost $ 6.0 $ 7.4 $ 5.6
Vesting period 3 years    
Weighted average period of recognition of unrecognized compensation cost related to stock options 1 year 8 months 12 days    
Restricted Stock Units      
Stock-based compensation      
Awards granted (in shares) 12,000 13,000 13,000
Stock-based compensation expense      
Total stock-based compensation cost $ 1.3 $ 1.4 $ 1.4
Stock appreciation rights      
Stock-based compensation      
Awards granted (in shares) 493,000    
Unrecognized compensation cost related to stock options $ 11.6    
Stock-based compensation expense      
Total stock-based compensation cost $ 8.6 0.0 $ 0.0
Weighted average period of recognition of unrecognized compensation cost related to stock options 1 year 3 months 18 days    
Weighted-average assumptions used to estimate grant date fair value of stock options      
Expected dividend yield (as a percent) 1.30%    
Expected life in years 1 year 3 months 18 days    
Expected volatility (as a percent) 24.30%    
Risk-free interest rate (as a percent) 1.60%    
Weighted average grant date fair value (in dollars per share) $ 55.76    
Fair value of equity awards granted $ 27.5    
Q2 2018 Stock option and stock appreciation right grant      
Stock-based compensation expense      
Total stock-based compensation cost 11.5 2.7  
Stock compensation cost capitalized as inventory $ 3.2 $ 0.5