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Debt - Long-term debt (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2018
Dec. 31, 2017
Oct. 01, 2017
Financing Arrangements      
Less current maturities $ (28.1) $ (22.5)  
Total long-term debt 350.7 $ 474.6  
Principal payments during each of the next five years and thereafter      
Letters of credit outstanding $ 25.8   $ 25.7
5.05% Senior notes due 2020      
Financing Arrangements      
Interest rate (as a percent) 5.05%    
Letters of credit      
Financing Arrangements      
Term of letters of credit from the date of issuance 1 year