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Commitments and Contingencies - Other (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Other commitments    
Deferred compensation plan liability $ 1.5  
Deferred compensation plan assets 0.9  
Agreement with the Regents    
Other commitments    
Minimum required annual payment of the commitment obligation, based on net sales of current and future products 0.5  
Cost of sales | Agreement with the Regents    
Other commitments    
Commitment obligation payments $ 1.0 $ 0.9