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Property, plant and equipment, net (Details) - USD ($)
$ in Millions
Jun. 30, 2017
Dec. 31, 2016
Property, Plant and Equipment    
Total cost $ 937.1 $ 919.4
Less: accumulated depreciation (513.0) (496.6)
Property, plant and equipment, net 424.1 422.8
Machinery and equipment    
Property, Plant and Equipment    
Total cost 774.2 764.0
Buildings and leasehold equipment    
Property, Plant and Equipment    
Total cost 113.2 111.2
Land and land improvements    
Property, Plant and Equipment    
Total cost 18.0 17.9
Construction in progress    
Property, Plant and Equipment    
Total cost $ 31.7 $ 26.3