Interferometric gravitational wave detectors are expected to be limited by shot noise at some frequencies. We experimentally demonstrate that a power recycled Michelson with squeezed light injected into the dark port can overcome this limit. An improvement in the signal-to-noise ratio of 2.3 dB is measured and locked stably for long periods of time. The configuration, control, and signal readout of our experiment are compatible with current gravitational wave detector designs. We consider the application of our system to long baseline interferometer designs such as LIGO.