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Revenue - Contract Liabilities (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Contract With Customer, Liability [Roll Forward]    
Outstanding at beginning of period $ 31.3 $ 24.9
Increase (decrease) attributed to:    
Sales incentive accruals 11.9 9.1
Contract payments (9.6) (7.1)
Outstanding at end of period $ 33.6 $ 26.9