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Fair Value of Financial Instruments - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis        
Percentage of level 3 invested assets in total investment portfolio 5.40%   5.40%  
Net investment gains (losses) included in net income related to financial assets $ 6.5 $ 0.3 $ 7.6 $ 0.3
Net investment (gains) losses included in net income related to financial liabilities 0.7 4.4 8.2 5.3
Level 3        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis        
Net investment gains (losses) included in net income related to financial assets $ 6.5 $ 0.3 $ 7.6 $ 0.3