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Business separation (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2016
Jun. 30, 2015
Jun. 30, 2016
Jun. 30, 2015
Other Income and Expenses [Abstract]        
Separation costs $ 4.7 $ 4.8 $ 11.1 $ 6.3