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Revenue - Impact of ASU Adoption (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Impact of ASU adoption        
Income tax expense (benefit) $ 21.2 $ 9.8 $ 41.4 $ 25.9
Practical expedient, incremental costs of obtaining a contract     true  
ASU No. 2014-09 | Adjustments        
Impact of ASU adoption        
Retained earnings $ 8.2   $ 8.2  
Income tax expense (benefit)     $ (2.1)