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Restructuring and other - Restructuring Accrual Rollforward (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Restructuring Reserve [Roll Forward]        
Accrual additions $ 7.8 $ 13.8 $ 18.1 $ 20.7
Q4 2016 Plan        
Restructuring Reserve [Roll Forward]        
Restructuring accrual, beginning balance     16.4  
Accrual additions     2.2  
Cash payments and other     (18.6)  
Restructuring accrual, ending balance $ 0.0   $ 0.0