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Fair value of financial instruments Fair value of financial instruments (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2018
USD ($)
Sep. 30, 2018
USD ($)
Dec. 31, 2017
USD ($)
Jul. 18, 2017
USD ($)
Mar. 31, 2016
derivative_instrument
Not Designated as Hedging Instrument | Foreign Exchange Contract          
Debt Instrument [Line Items]          
Notional value $ 153,400,000.0 $ 153,400,000.0      
Weighted average maturity   2 months      
Designated as Hedging Instrument | Interest Rate Swap          
Debt Instrument [Line Items]          
Notional value 40,000,000 $ 40,000,000      
Weighted average maturity   1 year 3 months 15 days      
Number of interest rate swaps | derivative_instrument         2
Designated as Hedging Instrument | Interest Rate Swap | Level 2          
Debt Instrument [Line Items]          
Fair Value of swap, net 1,600,000 $ 1,600,000      
Prepaid Expenses and Other Current Assets | Not Designated as Hedging Instrument | Foreign Exchange Contract | Level 2          
Debt Instrument [Line Items]          
Fair value of foreign currency contract, net 1,400,000 1,400,000      
Prepaid Expenses and Other Current Assets | Designated as Hedging Instrument | Interest Rate Swap | Level 2          
Debt Instrument [Line Items]          
Fair value of swap, asset position 600,000 600,000      
Other Assets | Designated as Hedging Instrument | Interest Rate Swap | Level 2          
Debt Instrument [Line Items]          
Fair value of swap, asset position 1,000,000 1,000,000      
Six hundred million senior unsecured notes          
Debt Instrument [Line Items]          
Carrying value 600,000,000 600,000,000 $ 600,000,000    
Six hundred million senior unsecured notes | Level 3          
Debt Instrument [Line Items]          
Fair value $ 552,400,000 552,400,000 $ 590,600,000    
Maco          
Debt Instrument [Line Items]          
Scheduled installments period 1 year 3 months        
Potential undiscounted amount minimum       $ 0  
Potential undiscounted amount maximum $ 30,300,000 30,300,000   30,300,000.0  
Contingent consideration       $ 28,700,000  
Maco | Level 3          
Debt Instrument [Line Items]          
Contingent consideration 29,700,000 29,700,000      
Maco | Accrued Liabilities | Level 3          
Debt Instrument [Line Items]          
Contingent consideration 15,100,000 15,100,000      
Maco | Other Noncurrent Liabilities | Level 3          
Debt Instrument [Line Items]          
Contingent consideration $ 14,600,000 $ 14,600,000      
Measurement Input, Revenue Multiple | Maco          
Debt Instrument [Line Items]          
Revenue multiple       2.5