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Condensed Consolidated Statements of Comprehensive Income (Unaudited) (Parenthetical) - 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]        
Tax expense on change in unrecognized losses related to pension benefit plans $ 0.3 $ 0.7 $ 0.5 $ 1.5
Tax expense on unrealized gain (loss) on derivatives $ 0.2 $ 0.0 $ 0.2 $ 0.0