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Long-term debt - Components of Long-term Indebtedness (Details) - USD ($)
$ in Millions
Dec. 31, 2019
Dec. 31, 2018
Nov. 14, 2017
Jan. 29, 2014
Debt Instrument [Line Items]        
Total debt $ 822.5 $ 808.8    
Current portion of debt, net of debt issuance costs (12.9) (10.1)    
Unamortized debt issuance costs (11.2) (14.2)    
Debt, net of current portion 798.4 784.5    
2.875% Convertible Senior Notes Due 2021        
Debt Instrument [Line Items]        
Total debt $ 10.6 10.6    
Interest rate, stated percentage 2.875%   2.875% 2.875%
Other        
Debt Instrument [Line Items]        
Total debt $ 3.0 3.0    
Term Loan Facility        
Debt Instrument [Line Items]        
Total debt 435.9 447.2    
Revolving Credit Facility        
Debt Instrument [Line Items]        
Total debt $ 373.0 $ 348.0