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Stockholders' Equity - Changes in Each Component of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning Balance $ 394.1 $ 405.6
Net current-period other comprehensive income 1.4 10.8
Ending Balance 397.7 407.4
Actuarial Losses    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning Balance (79.0) (75.6)
Other comprehensive income (loss) before reclassifications (0.3) 0.3
Amounts reclassified from accumulated other comprehensive loss 0.5 1.5
Net current-period other comprehensive income 0.2 1.8
Ending Balance (78.8) (73.8)
Foreign Currency Translation    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning Balance (13.0) (13.3)
Other comprehensive income (loss) before reclassifications 1.2 1.4
Amounts reclassified from accumulated other comprehensive loss 0.0 7.7
Net current-period other comprehensive income 1.2 9.1
Ending Balance (11.8) (4.2)
Unrealized Gain on Derivatives    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning Balance 0.0 0.1
Other comprehensive income (loss) before reclassifications 0.0 0.0
Amounts reclassified from accumulated other comprehensive loss 0.0 (0.1)
Net current-period other comprehensive income 0.0 (0.1)
Ending Balance 0.0 0.0
Accumulated Other Comprehensive Loss    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning Balance (92.0) (88.8)
Other comprehensive income (loss) before reclassifications 0.9 1.7
Amounts reclassified from accumulated other comprehensive loss 0.5 9.1
Net current-period other comprehensive income 1.4 10.8
Ending Balance $ (90.6) (78.0)
Bronto    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Actuarial loss   0.4
Fire Rescue    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Foreign currency translation loss   $ 7.7