Discontinued Operations - Assets and Liabilities of Discontinued Operations (Details) - USD ($) $ in Millions	Sep. 30, 2017	Dec. 31, 2016
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Deferred tax assets	$ 1.0	$ 1.1
Long-term assets of discontinued operations	1.0	1.1
Other current liabilities	0.8	2.1
Current liabilities of discontinued operations	0.8	2.1
Other long-term liabilities	1.8	2.0
Long-term liabilities of discontinued operations	1.8	2.0
Fire Rescue
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Deferred tax assets	0.0	0.0
Long-term assets of discontinued operations	0.0	0.0
Other current liabilities	0.0	1.3
Current liabilities of discontinued operations	0.0	1.3
Other long-term liabilities	0.0	0.0
Long-term liabilities of discontinued operations	0.0	0.0
Other
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Deferred tax assets	1.0	1.1
Long-term assets of discontinued operations	1.0	1.1
Other current liabilities	0.8	0.8
Current liabilities of discontinued operations	0.8	0.8
Other long-term liabilities	1.8	2.0
Long-term liabilities of discontinued operations	$ 1.8	$ 2.0