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Fair Value of Financial Instruments - Contingent Consideration (Details) - USD ($)
$ in Millions
12 Months Ended
Oct. 01, 2018
Dec. 31, 2019
Dec. 31, 2018
Mestrelab Research, S.L      
Fair value of financial instruments      
Remaining ownership percentage under options that can be exercised after 2022 49.00% 49.00%  
Contingent consideration      
Changes in contingent consideration liabilities      
Balance at the beginning of the period   $ 15.1 $ 12.7
Current period additions   5.4 9.9
Current period adjustments   2.3 (1.9)
Current period settlements   (6.7) (5.5)
Foreign currency effect   (0.3) (0.1)
Balance at the end of the period   15.8 15.1
Hybrid instrument      
Changes in contingent consideration liabilities      
Balance at the beginning of the period   12.9  
Current period additions     12.9
Current period additions   (2.3)  
Balance at the end of the period   $ 10.6 $ 12.9