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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Statement of Comprehensive Income [Abstract]        
Net income $ 11.4 $ 9.1 $ 18.7 $ 22.7
Other comprehensive income (loss):        
Change in foreign currency translation adjustment 5.0 (3.1) 6.2 6.0
Change in unrecognized net actuarial losses related to pension benefit plans, net of income tax expense of $0.3, $0.7, $0.5 and $1.5, respectively (0.1) 2.0 0.1 3.8
Change in unrealized net gain on derivatives, net of income tax expense of $0.2, $0.0, $0.2 and $0.0, respectively 0.2 0.0 0.2 (0.1)
Total other comprehensive income (loss) 5.1 (1.1) 6.5 9.7
Comprehensive income $ 16.5 $ 8.0 $ 25.2 $ 32.4