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Income Taxes - Components of Income Tax Expense (Benefit), Continuing Operations (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Current income taxes:      
U.S. federal $ 53.2 $ 14.3 $ 13.0
U.S. state 0.6 0.1 1.1
Foreign 14.2 17.2 14.2
Current income taxes 68.0 31.6 28.3
Deferred income taxes:      
U.S. federal (1.3) (2.7) (5.8)
U.S. state 2.9 (4.0) 0.1
Foreign 0.0 (9.5) (1.0)
Deferred income taxes 1.6 (16.2) (6.7)
Provision for income taxes $ 69.6 $ 15.4 $ 21.6