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Income Taxes - Uncertain tax positions (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Movement in uncertain tax positions |  |  |
Uncertain tax positions at the beginning of the period | $ 12.8 | $ 13.1 | $ 14.0
Gross increase - tax position in prior periods | 0.2 | 0.2 | 0.2
Gross decrease - tax position in prior periods | (0.3) |  | (0.6)
Gross increase - current period tax position |  |  | 0.1
Settlements | (7.8) |  |
Foreign exchange | (1.5) | (0.5) | (0.6)
Uncertain tax positions at the end of the period | 3.4 | $ 12.8 | $ 13.1
Interest and penalties included within uncertain tax positions | 2.0 |  |
Impact of uncertain tax positions on effective tax rate, if recognized | $ 3.4 |  |

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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=65882285&loc=SL6600010-109319 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Glossary Unrecognized Tax Benefit -URI http://asc.fasb.org/extlink&oid=6527854 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=65882285&loc=SL6600010-109319 + Details
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