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Income Taxes - Domestic and Foreign Components of Income Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Income Tax Disclosure [Abstract]      
Domestic $ 38.2 $ 18.1 $ 18.9
Foreign 44.0 26.6 28.9
Income from continuing operations before income taxes $ 82.2 $ 44.7 $ 47.8