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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Dec. 31, 2018 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Income Tax [Line Items] |  |  |  |  |  |
Deferred tax asset, federal net operating loss carryforwards | $ 0.5 | $ 0.5 | $ 1.1 |  |  |
Deferred tax asset, state net operating loss carryforwards | 7.3 | 7.3 | 8.3 |  |  |
Deferred tax asset, foreign net operating loss carryforwards | 13.8 | 13.8 | 9.1 |  |  |
Deferred tax asset, U.S. research tax credit carryforwards | 1.1 | 1.1 | 1.1 |  |  |
Deferred tax asset, U.S. foreign tax credits carryforwards | 3.1 | 3.1 | 3.0 |  |  |
Valuation allowance | 9.4 | 9.4 | 10.6 |  |  |
Total deferred tax assets | 70.2 | 70.2 | 64.2 |  |  |
Income taxes paid |  | $ 21.6 | $ 13.9 |  | $ 13.3 |
Statutory federal income tax rate |  | 21.00% | 35.00% |  | 35.00% |
Unrecognized tax benefits | 1.6 | $ 1.6 | $ 1.9 |  | $ 1.8 | $ 2.2
Accrual for interest and penalties | 0.6 | 0.6 | 0.6 |  |  |
Reserves for unrecognized tax benefits, including interest and penalties | 2.1 | 2.1 | 2.2 |  |  |
Change in valuation allowance |  |  | 2.2 | [1] | 2.2 |
Income tax expense |  | 17.9 | $ 0.5 |  | $ 17.4 |
Spain tax planning strategy benefit | $ 8.6 | $ 8.6 |  |  |  |
Effective income tax rate |  | 16.00% | 0.80% |  | 30.60% |
Tax Act transition tax, rate applied to cash | 15.50% | 15.50% |  |  |  |
Tax Act transition tax, rate applied to earnings in excess of cash | 8.00% | 8.00% |  |  |  |
Research Tax Credit Carryforward |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Deferred tax asset, tax credit carryforwards expiration year |  | 2019 |  |  |  |
Canada |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Change in valuation allowance |  |  |  |  | $ (3.5) |
U.S. federal |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Deferred tax asset, net operating loss carryforwards expiration year |  | 2027 |  |  |  |
Change in enacted tax rate |  |  | $ 23.0 |  |  |
U.S. federal | Foreign Tax Credit Carryforward |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Valuation allowance | $ 3.1 | $ 3.1 | 3.0 |  |  |
U.S. state |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Deferred tax asset, net operating loss carryforwards expiration year |  | 2019 |  |  |  |
Valuation allowance | 5.3 | $ 5.3 |  |  |  |
Change in valuation allowance |  |  | 0.8 |  |  |
Change in enacted tax rate |  |  | 0.6 |  |  |
Foreign |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Deferred tax asset, net operating loss carryforwards expiration year |  | 2025 |  |  |  |
Deferred tax asset, tax credit carryforwards expiration year |  | 2023 |  |  |  |
Valuation allowance | 1.0 | $ 1.0 |  |  |  |
United Kingdom |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Valuation allowance | $ 0.8 | 0.8 |  |  |  |
Change in valuation allowance |  |  |  |  | $ (1.3) |
Current Deferred Tax Assets |  |  |  |  |  |
Income Tax [Line Items] |  |  |  |  |  |
Unrecognized tax benefits, period increase (decrease) |  | $ 0.1 | $ 0.3 |  |  |
[1] | Relates to continuing operations only.

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