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Summary of Significant Accounting Policies - Allowance for Doubtful Accounts (Details) - Allowance for doubtful accounts - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Valuation and Qualifying Accounts Disclosure [Line Items]      
Bad debt expense $ 18.1 $ 20.4 $ 16.3
Write-offs $ 17.6 $ 16.9 $ 20.3