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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Tax Disclosure [Abstract]      
Interest expense on income taxes $ 0.3 $ 0.0 $ 0.6
Accrued interest on income taxes 1.4 1.3 1.3
Significant change in unrecognized tax benefits is reasonably possible, amount of unrecorded benefit (1.3)    
Potential benefit on the effective tax rate 3.4    
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Unrecognized tax benefits beginning balance 12.8 5.0 5.5
Additions based on tax positions related to the current year     0.1
Additions for tax positions of prior years     0.7
Reductions for tax positions due to lapsed statutes of limitations (1.0) (0.6) (1.3)
Additions for acquisitions   8.4  
Unrecognized tax benefits ending balance $ 11.8 $ 12.8 $ 5.0