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Income Taxes - Components of unrecognized tax positions (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Income Tax Disclosure [Abstract]        
Highly certain tax positions $ 7.9 $ 8.3 $ 6.3  
Other unrecognized tax benefits 1.6 0.1 0.1  
Gross unrecognized tax benefits 9.5 8.4 6.4 $ 3.8
Accrued interest and penalties related to unrecognized tax positions $ 0.1 $ 0.0 $ 0.0