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Benefit Plans and Other Postretirement Benefits, Pension plans with an accumulated benefit obligation in excess of plan assets (Details) - Pension Benefits - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019
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United States |  |
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract] |  |
Accumulated benefit obligation | $ 29.8 | $ 495.0
Fair value of plan assets | 11.7 | 473.2
Foreign Plans |  |
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract] |  |
Accumulated benefit obligation | 287.6 | 253.4
Fair value of plan assets | $ 110.7 | $ 107.8

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