Other Charges, Net - Restructuring Plans (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Restructuring charges
Restructuring expenses	$ 9.4	$ 16.2	$ 20.8
Other programs
Restructuring charges
Restructuring expenses	9.4	16.2	20.8
Other programs | Costs of product revenue
Restructuring charges
Restructuring expenses	2.6	5.6	11.0
Other programs | Other charges, net
Restructuring charges
Restructuring expenses	$ 6.8	$ 10.6	$ 9.8