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Leases - Future minimum rental obligations under non-cancelable operating leases (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Leases [Abstract]      
Rental expense attributed to operating leases $ 27.9 $ 34.8 $ 34.3
Future minimum rental obligations under non-cancelable operating leases      
2016 38.0    
2017 26.6    
2018 21.2    
2019 17.6    
2020 15.0    
Thereafter 23.7    
Total $ 142.1