Restructuring Restructuring (Details) $ in Millions	12 Months Ended
	Dec. 31, 2016 USD ($)
Restructuring Cost and Reserve [Line Items]
Restructuring reserve, beginning period	$ 37.3
Expense	10.3
Payments	(40.2)
Adjustments to previous estimates, net	(2.3)
Restructuring reserve, ending period	5.1
Workforce reduction
Restructuring Cost and Reserve [Line Items]
Restructuring reserve, beginning period	33.7
Expense	4.9
Payments	(31.2)
Adjustments to previous estimates, net	(5.2)
Restructuring reserve, ending period	2.2
Pipeline programs
Restructuring Cost and Reserve [Line Items]
Restructuring reserve, beginning period	3.6
Expense	5.4
Payments	(9.0)
Adjustments to previous estimates, net	2.9
Restructuring reserve, ending period	$ 2.9