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Pension and Other Postretirement Benefit Plans - Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets (Details) - USD ($)
$ in Millions
Dec. 31, 2016
Dec. 31, 2015
Compensation and Retirement Disclosure [Abstract]    
Projected benefit obligation $ 747.3 $ 874.4
Accumulated benefit obligation 730.4 859.5
Fair value of plan assets $ 496.0 $ 607.0