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Pension and Postretirement Benefits - Underfunded or Unfunded Accumulated Benefit Obligation and Related Projected Benefit Obligation (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Postemployment Benefits [Abstract]    
Accumulated benefit obligation $ 1,375.3 $ 1,494.7
Fair value of plan assets 1,227.5 1,328.1
Unfunded accumulated benefit obligation 147.8 166.6
Projected benefit obligation $ 1,381.7 $ 1,500.8