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Leases - Balance sheet by asset category (Details) - USD ($)
$ in Millions
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Lessee, Lease, Description [Line Items]      
Operating lease ROU Asset $ 39.1    
Property, plant and equipment, gross 557.9 $ 537.4  
Less: Accumulated depreciation (357.9) (335.5)  
Property, plant and equipment, net 200.0 $ 201.9 $ 198.5
Finance Leased Asset      
Lessee, Lease, Description [Line Items]      
Less: Accumulated depreciation (8.5)    
Property, plant and equipment, net 10.7    
Finance Leased Real Estate      
Lessee, Lease, Description [Line Items]      
Property, plant and equipment, gross 14.4    
Finance Leased Machinery and Equipment      
Lessee, Lease, Description [Line Items]      
Property, plant and equipment, gross 4.8    
Real Estate      
Lessee, Lease, Description [Line Items]      
Operating lease ROU Asset 33.1    
Automobile      
Lessee, Lease, Description [Line Items]      
Operating lease ROU Asset 3.0    
Machinery and equipment      
Lessee, Lease, Description [Line Items]      
Operating lease ROU Asset $ 3.0