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Restructuring and Related Activities - Balance Sheet Location (Details) - USD ($)
$ in Millions
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Dec. 31, 2012
Restructuring Cost and Reserve [Line Items]        
Restructuring and exit $ 10.8 $ 13.9 $ 5.5 $ 3.0
Other accrued expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring and exit 10.7 13.0    
Other liabilities        
Restructuring Cost and Reserve [Line Items]        
Restructuring and exit $ 0.1 $ 0.9