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Revenue from Contract with Customers - Contract with Client (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Jan. 01, 2018
Revenue from Contract with Customer [Abstract]    
Contract assets with customer $ 110.8 $ 115.6
Contract liability with customer 9.0 $ 9.2
Increase in contract liability from freight billing 4.5  
Revenue from contract liability $ 4.3