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Employee Benefits - Amounts Recognized in Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Compensation And Retirement Disclosure [Abstract]    
Net actuarial loss $ 171.5 $ 406.1
Net prior service credit (9.4) (9.8)
Total $ 162.1 $ 396.3