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Derivative Financial Instruments - Contractual and Weighted-Average Interest Rates, Which Include the Effects of Hedges Related to Financial Instruments (Details) - Long-term debt
3 Months Ended 9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Derivative [Line Items]        
Contractual rates 3.30% 3.37% 3.353% 3.41%
Rate including impact of hedges 2.67% 2.27% 2.61% 2.24%