Income Taxes - Effective Income Tax Rate on Income Before Income Taxes (Details)	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Income Tax Disclosure [Abstract]
U.S. statutory tax rate	35.00%	35.00%	35.00%
Non-U.S. income taxed at other than 35%	(2.60%)	(3.20%)	(2.20%)
State and local income taxes	2.00%	0.90%	1.20%
U.S. tax on non-U.S. earnings	(10.70%)	(3.20%)	7.20%
Valuation allowance	7.40%	7.10%	(4.90%)
Tax credits and incentives	(9.90%)	(6.60%)	(0.80%)
Other	(0.30%)	(3.50%)	(1.50%)
Effective tax rate	20.90%	26.50%	34.00%