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Stockholders' Equity - Changes in Each Component of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Mar. 31, 2017
Dec. 31, 2016
Mar. 31, 2016
Dec. 31, 2015
Accumulated Other Comprehensive Income (Loss) [Line Items]                
Accumulated Other Comprehensive Income (Loss), Net of Tax $ (85.5)   $ (85.5)     $ (92.0)    
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Beginning Balance     394.1 $ 405.6        
Net current-period other comprehensive income (loss) 5.1 $ (1.1) 6.5 9.7        
Ending Balance 412.4 396.0 412.4 396.0        
Actuarial Losses                
Accumulated Other Comprehensive Income (Loss) [Line Items]                
Accumulated Other Comprehensive Income (Loss), Net of Tax (78.9) (71.8) (78.9) (71.8) $ (78.8) (79.0) $ (73.8) $ (75.6)
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Other comprehensive (loss) income before reclassifications (0.6) 1.0 (0.9) 1.4        
Amounts reclassified from accumulated other comprehensive loss 0.5 1.0 1.0 2.4        
Net current-period other comprehensive income (loss) (0.1) 2.0 0.1 3.8        
Foreign Currency Translation                
Accumulated Other Comprehensive Income (Loss) [Line Items]                
Accumulated Other Comprehensive Income (Loss), Net of Tax (6.8) (7.3) (6.8) (7.3) (11.8) (13.0) (4.2) (13.3)
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Other comprehensive (loss) income before reclassifications 5.0 (2.8) 6.2 (1.4)        
Amounts reclassified from accumulated other comprehensive loss 0.0 (0.3) 0.0 7.4        
Net current-period other comprehensive income (loss) 5.0 (3.1) 6.2 6.0        
Unrealized Gain on Derivatives                
Accumulated Other Comprehensive Income (Loss) [Line Items]                
Accumulated Other Comprehensive Income (Loss), Net of Tax 0.2 0.0 0.2 0.0 0.0 0.0 0.0 0.1
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Other comprehensive (loss) income before reclassifications 0.2 0.0 0.2 0.0        
Amounts reclassified from accumulated other comprehensive loss 0.0 0.0 0.0 (0.1)        
Net current-period other comprehensive income (loss) 0.2 0.0 0.2 (0.1)        
Accumulated Other Comprehensive Loss                
Accumulated Other Comprehensive Income (Loss) [Line Items]                
Accumulated Other Comprehensive Income (Loss), Net of Tax (85.5) (79.1) (85.5) (79.1) $ (90.6) $ (92.0) $ (78.0) $ (88.8)
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Beginning Balance     (92.0) (88.8)        
Other comprehensive (loss) income before reclassifications 4.6 (1.8) 5.5 0.0        
Amounts reclassified from accumulated other comprehensive loss 0.5 0.7 1.0 9.7        
Net current-period other comprehensive income (loss) 5.1 (1.1) 6.5 9.7        
Ending Balance $ (85.5) (79.1) $ (85.5) (79.1)        
Bronto                
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Actuarial loss       0.4        
Fire Rescue | Foreign Currency Translation                
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Amounts reclassified from accumulated other comprehensive loss   $ (0.3)   $ 7.4