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Leases - Future minimum rental obligations under non-cancelable operating leases (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Leases [Abstract]      
Rental expense attributed to operating leases $ 23.1 $ 16.8 $ 20.9
Future minimum rental obligations under non-cancelable operating leases      
2017 19.9    
2018 14.4    
2019 12.7    
2020 11.7    
2021 11.2    
Thereafter 27.5    
Total $ 97.4