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Income taxes (Tables)
3 Months Ended
Mar. 31, 2017
Income Tax Disclosure [Abstract]  
Schedule of Components of Income Tax Expense (Benefit)

Three Months Ended March 31,
 
2017
 
2016
Continuing operations
 
 
 
Provision for income taxes (in millions)
$
14.4

 
9.4

Effective tax rate
26.2
%
 
105.6
%