Retirement and Deferred Compensation Plans - Fair Value of Pension Plan Assets by Asset Category (Details) - USD ($) $ in Millions | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 |
United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 37.3 | $ 37.2 | $ 40.6 |
United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 12.1 | 12.7 | |
United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.2 | 24.5 | |
United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | United States companies | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 12.1 | 12.7 | |
United States Plans | United States companies | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 12.1 | 12.7 | |
United States Plans | United States companies | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | United States companies | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | International companies | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | International companies | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | International companies | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | International companies | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Government bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14.7 | 16.9 | |
United States Plans | Government bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Government bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14.7 | 16.9 | |
United States Plans | Government bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Corporate bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 10.3 | 7.2 | |
United States Plans | Corporate bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Corporate bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 10.3 | 7.2 | |
United States Plans | Corporate bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Unitized funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Unitized funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Unitized funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Unitized funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Common contractual funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common contractual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common contractual funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Common contractual funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
United States Plans | Insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 324.5 | 314.7 | $ 349.1 |
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 50 | 123.6 | |
Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 148.3 | 99.1 | |
Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 126.2 | 92 | |
Non-United States Plans | United States companies | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | United States companies | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | United States companies | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | United States companies | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | International companies | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 17.7 | 17.8 | |
Non-United States Plans | International companies | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 17.7 | 17.8 | |
Non-United States Plans | International companies | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | International companies | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Government bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 27.5 | 47.8 | |
Non-United States Plans | Government bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 47.8 | |
Non-United States Plans | Government bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 27.5 | 0 | |
Non-United States Plans | Government bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Corporate bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 49.6 | 31.2 | |
Non-United States Plans | Corporate bonds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 31.2 | |
Non-United States Plans | Corporate bonds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 49.6 | 0 | |
Non-United States Plans | Corporate bonds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Guaranteed insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14.2 | 38.9 | |
Non-United States Plans | Guaranteed insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Guaranteed insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14.2 | 38.9 | |
Non-United States Plans | Guaranteed insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Annuity contract | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 49.5 | 51.9 | |
Non-United States Plans | Annuity contract | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Annuity contract | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 49.5 | 51.9 | |
Non-United States Plans | Annuity contract | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Unitized funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 23.1 | $ 26.4 | |
Non-United States Plans | Unitized funds | Equity securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Percentage of investment in plan assets | 60.00% | 50.00% | |
Non-United States Plans | Unitized funds | Fixed income funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Percentage of investment in plan assets | 30.00% | 40.00% | |
Non-United States Plans | Unitized funds | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Percentage of investment in plan assets | 10.00% | 10.00% | |
Non-United States Plans | Unitized funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 23.1 | $ 26.4 | |
Non-United States Plans | Unitized funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Unitized funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Real estate funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 7 | 8.3 | |
Non-United States Plans | Real estate funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Real estate funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 7 | 8.3 | |
Non-United States Plans | Real estate funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Common contractual funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.9 | | |
Non-United States Plans | Common contractual funds | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Common contractual funds | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | | |
Non-United States Plans | Common contractual funds | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 25.9 | | |
Non-United States Plans | Insurance contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 100.3 | 92 | |
Non-United States Plans | Insurance contracts | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Insurance contracts | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Non-United States Plans | Insurance contracts | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 100.3 | 92 | |
Cash and cash equivalents | United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0.2 | 0.4 | |
Cash and cash equivalents | United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0.2 | 0.4 | |
Cash and cash equivalents | United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | Non-United States Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 9.7 | 0.4 | |
Cash and cash equivalents | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 9.2 | 0.4 | |
Cash and cash equivalents | Non-United States Plans | Significant Other Observable Inputs (Level 2) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0.5 | 0 | |
Cash and cash equivalents | Non-United States Plans | Significant Unobservable Inputs (Level 3) | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 0 | $ 0 | |