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Employee Retirement Plans - Schedule of Change in Value of Assets of Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]    
Beginning balance $ 162.8 $ 190.2
Actual return on plan assets 18.7 (11.7)
Benefits paid (6.8) (10.0)
Contributions 7.0 3.8
Foreign currency gain (loss) 5.7 (9.5)
Ending balance 187.4 $ 162.8
Unfunded status at end of year $ 18.5