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Stockholders' Equity - Change in Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2017
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Pension settlement charges   $ (6.1) $ 0.0 $ 0.0
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance   (92.0)    
Net current-period other comprehensive (loss) income   15.1 (3.2) (9.3)
Ending balance $ (76.9) (76.9) (92.0)  
Actuarial Losses        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance   (79.0) (75.6)  
Other comprehensive (loss) income before reclassifications   (2.2) (7.8)  
Amounts reclassified from accumulated other comprehensive loss   5.8 4.4  
Net current-period other comprehensive (loss) income   3.6 (3.4)  
Ending balance (75.4) (75.4) (79.0) (75.6)
Foreign Currency Translation        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance   (13.0) (13.3)  
Other comprehensive (loss) income before reclassifications   10.5 (7.1)  
Amounts reclassified from accumulated other comprehensive loss   0.0 7.4  
Net current-period other comprehensive (loss) income   10.5 0.3  
Ending balance (2.5) (2.5) (13.0) (13.3)
Unrealized Gain on Derivatives        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance   0.0 0.1  
Other comprehensive (loss) income before reclassifications   0.8 0.0  
Amounts reclassified from accumulated other comprehensive loss   0.2 (0.1)  
Net current-period other comprehensive (loss) income   1.0 (0.1)  
Ending balance 1.0 1.0 0.0 0.1
Accumulated Other Comprehensive Loss        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance   (92.0) (88.8)  
Other comprehensive (loss) income before reclassifications   9.1 (14.9)  
Amounts reclassified from accumulated other comprehensive loss   6.0 11.7  
Net current-period other comprehensive (loss) income   15.1 (3.2) (9.3)
Ending balance (76.9) (76.9) (92.0) (88.8)
Bronto        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Amortization of actuarial loss   0.4    
Fire Rescue | Foreign Currency Translation        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Amounts reclassified from accumulated other comprehensive loss     7.4  
U.S. Benefit Plans        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Pension settlement charges $ (6.1) (6.1) 0.0 0.0
Amortization of actuarial loss   $ 2.5 $ 5.6 $ 6.8