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Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Reconciliation of the beginning and ending amount of unrecognized tax benefits      
Balance, January 1 $ 14.5 $ 9.5  
Additions for tax positions of prior years 7.9 6.7  
Additions based on tax positions related to the current year 0.5 1.1  
Reductions for tax positions of prior years (5.6) (1.0)  
Reductions due to statute of limitations 0.0 (1.8)  
Balance, December 31 17.3 14.5 $ 9.5
Income Taxes      
Deferred tax assets, uncertainty in income taxes 2.1 6.6  
Net amount of unrecognized tax benefits having impact on the effective tax rate for continuing operations 15.2 7.9  
Interest income in the consolidated income statements 0.6    
Interest expense in the consolidated income statements   0.2 0.0
Accrued penalties in the consolidated income statements 0.0 0.0 $ 0.0
Accrued interest on the consolidated balance sheets 0.2 0.8  
Accrued penalties on the consolidated balance sheets $ 0.0 $ 0.0