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Goodwill and Other Intangible Assets, Amortization (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Intangible assets      
Amortization expense $ 46.9 $ 48.6 $ 54.6
Amortization expense estimated for each of the next five fiscal years      
2019 42.6    
2020 37.0    
2021 32.3    
2022 24.9    
2023 $ 22.2    
Backlog      
Intangible assets      
Amortization expense     $ 8.0