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Benefit Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Defined Contribution Plan Disclosure [Line Items]      
Incurred expense related to savings and retirement plans $ 7.2 $ 7.0 $ 7.8
Incurred expense related to non qualified deferred compensation plans 0.3 0.3 $ 0.3
ProAssurance deferred compensation liabilities total $ 26.8 $ 21.3  
Maximum      
Defined Contribution Plan Disclosure [Line Items]      
Percentage of benefit plan contribution by employer (percent) 10.00%