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Summary of Significant Accounting Policies - Warranties and Deferred Revenue, Shipping and Handling, Advertising (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Warranty Costs and Deferred Revenue      
Period for which parts and labor of purchased equipment is warrantied 1 year    
Shipping and handling costs      
Selling, general and administrative $ 444.7 $ 415.2 $ 389.8
Advertising      
Advertising expenses 14.4 14.0 12.7
Shipping and Handling      
Shipping and handling costs      
Selling, general and administrative $ 25.2 $ 23.2 $ 21.3