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Stockholders' Equity - Reclassifications from Accumulated Other Comprehensive Loss (Details) - Amount Reclassified from Accumulated Other Comprehensive Loss - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Amortization of actuarial losses of defined benefit pension plans [1],[2] $ (0.8) $ (0.7) $ (1.8) $ (1.5)
Interest income on interest rate swap [1],[2] 0.2 0.0 0.2 0.0
Total before tax [1] (0.6) (0.7) (1.6) (1.5)
Income tax benefit [1],[2] 0.1 0.2 0.3 0.5
Total reclassifications for the period, net of tax [1] $ (0.5) $ (0.5) $ (1.3) $ (1.0)
[1] Amounts in parentheses indicate losses.
[2] Continuing operations only.