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Properties - Components of Properties (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Property, Plant and Equipment [Line Items]      
Total properties $ 806.0 $ 800.2  
Pretax gain 0.0 7.3 $ 0.0
Land      
Property, Plant and Equipment [Line Items]      
Total properties 2.3 2.3  
Buildings      
Property, Plant and Equipment [Line Items]      
Total properties 63.5 63.5  
Machinery and office equipment      
Property, Plant and Equipment [Line Items]      
Total properties 534.3 530.0  
Internal-use software      
Property, Plant and Equipment [Line Items]      
Total properties 171.0 164.7  
Rental equipment      
Property, Plant and Equipment [Line Items]      
Total properties $ 34.9 39.7  
United Kingdom | Building and land      
Property, Plant and Equipment [Line Items]      
Net proceeds received   19.2  
Pretax gain   $ 7.3