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Exit activities - Restructuring and Related Costs (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2020
Restructuring Cost and Reserve [Line Items]    
Total $ 15.4 $ 33.0
Special Charges    
Restructuring Cost and Reserve [Line Items]    
Inventory and asset write-offs 1.5 10.0
Special Charges | One-time Termination Benefits    
Restructuring Cost and Reserve [Line Items]    
Severance costs and other 2.5 7.0
Cost of Sales | Facility Closing    
Restructuring Cost and Reserve [Line Items]    
Accelerated depreciation $ 11.4 $ 16.0