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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 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]        
Amortization of actuarial losses of defined benefit pension plans [1] $ (1.0) $ (1.0) $ (2.5) $ (2.8)
Amortization of prior service costs of defined benefit pension plans [1]     (0.1) 0.0
Interest rate swap [1] 0.2 0.2 0.9 0.4
Total before tax [1] (0.8) (0.8) (1.7) (2.4)
Income tax benefit [1] 0.2 0.2 0.3 0.5
Total reclassifications for the period, net of tax [1] $ (0.6) $ (0.6) $ (1.4) $ (1.9)
[1]
Amounts in parentheses indicate losses.