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Restructuring - Rollforward of all restructuring accrual (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Rollforward of all restructuring accrual        
Balance at beginning of period $ 4.6 $ 5.4 $ 3.1 $ 5.6
Restructuring expense 2.7 3.8 7.2 10.0
Use of reserve (4.2) (4.7) (7.2) (10.7)
Reserve reclassification       (0.3)
Currency translation   (0.1)   (0.2)
Balance at end of period $ 3.1 $ 4.4 $ 3.1 $ 4.4