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Defined Benefit Plan - Defined Benefit Plan (Details) - Defined Benefit Plans - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Components of net periodic benefit cost        
Service cost $ 0.7 $ 0.8 $ 2.1 $ 2.4
Interest cost 1.6 1.3 4.6 4.1
Expected return on plan assets (2.4) (2.5) (7.2) (7.7)
Amortization of unrecognized loss 0.8 1.1 2.5 3.4
Net periodic benefit cost 0.7 0.7 2.0 2.2
Amortization of unrecognized loss, tax $ (0.2) $ 0.6 $ (0.6) $ (0.9)