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Income Taxes - Components of Income Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Tax Disclosure [Abstract]      
United States $ 27.7 $ 41.6 $ 31.0
Foreign 65.7 63.9 77.2
Income from continuing operations before income taxes and income from equity affiliates $ 93.4 $ 105.5 $ 108.2