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Stock Plans - Compensation Expense (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
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Sep. 30, 2018 | Sep. 30, 2017 | Sep. 30, 2018 | Sep. 30, 2017
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |  |  |  |
Compensation cost on stock-based compensation plans | $ 1.9 | $ 1.7 | $ 5.8 | $ 5.0

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