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Intangible Assets (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Unamortized Intangible Assets      
Amortization expense of intangible assets $ 6.5 $ 5.3  
Estimated average amortization, year one 24.8    
Estimated average amortization, year two 24.8    
Estimated average amortization, year three 24.8    
Estimated average amortization, year four 24.8    
Estimated average amortization, year five 24.8    
AMS      
Amortized Intangible Assets      
Gross Carrying Amount 418.3   $ 419.0
Accumulated Amortization 113.6   106.9
Accumulated Impairments 20.7   20.7
Accumulated Foreign Exchange (0.7)   (2.8)
Net Carrying Amount 284.7   294.2
AMS | Trade names      
Amortized Intangible Assets      
Accumulated Impairments 0.1   0.1
Accumulated Foreign Exchange (0.2)   (0.6)
Unamortized Intangible Assets      
Gross Carrying Amount 20.0   20.0
Net Carrying Amount 20.1   20.5
AMS | Customer relationships      
Amortized Intangible Assets      
Gross Carrying Amount 339.2   339.8
Accumulated Amortization 94.1   88.5
Accumulated Impairments 0.0   0.0
Accumulated Foreign Exchange (1.1)   (2.9)
Net Carrying Amount 246.2   254.2
AMS | Developed technology      
Amortized Intangible Assets      
Gross Carrying Amount 42.0   42.1
Accumulated Amortization 14.9   14.1
Accumulated Impairments 0.0   0.0
Accumulated Foreign Exchange 0.1   (0.2)
Net Carrying Amount 27.0   28.2
AMS | Trade names      
Amortized Intangible Assets      
Gross Carrying Amount 32.7   32.7
Accumulated Amortization 1.6   1.4
Accumulated Impairments 20.7   20.7
Accumulated Foreign Exchange 0.3   0.3
Net Carrying Amount 10.1   10.3
AMS | Non-compete agreements      
Amortized Intangible Assets      
Gross Carrying Amount 2.9   2.9
Accumulated Amortization 2.4   2.4
Accumulated Impairments 0.0   0.0
Accumulated Foreign Exchange 0.0   0.0
Net Carrying Amount 0.5   0.5
AMS | Patents      
Amortized Intangible Assets      
Gross Carrying Amount 1.5   1.5
Accumulated Amortization 0.6   0.5
Accumulated Impairments 0.0   0.0
Accumulated Foreign Exchange 0.0   0.0
Net Carrying Amount $ 0.9   $ 1.0