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Retirement Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Retirement Benefits [Abstract]  
Reconciliation of Balances of Pension Benefit Obligation and Fair Value of Plan Assets A reconciliation of the beginning and ending balances of the pension benefit obligation and fair value of plan assets and the funded status of the plan is as follows (in millions):
 
Year Ended December 31,
 
  
2019
 
  
2018
 
Change in pension benefit obligation:
 
 
 
  
 
 
Benefit obligation at beginning of year
  $
253.2
    $
271.4
 
Service cost
   
1.6
     
0.8
 
Interest cost
   
9.8
     
9.3
 
Net actuarial
loss
(gain)
    
24.7
     
(14.3
 )
Benefits paid
   
(14.9
 )    
(14.0
 )
                 
Benefit obligation at end of year
  $
274.4
    $
253.2
 
                 
Change in plan assets:
 
 
 
  
 
 
Fair value of plan assets at beginning of year
  $
220.0
    $
219.4
 
Actual return on plan assets
   
38.6
     
(15.4
 )
Contributions by the company
   
—  
      
30.0
 
Benefits paid
   
(14.9
 )    
(14.0
 )
                 
Fair value of plan assets at end of year
  $
243.7
    $
220.0
 
                 
Funded status of the plan (underfunded)
  $
  (30.7
 )   $
  (33.2
 )
                 
Amounts recognized in the consolidated balance sheet consist of:
 
 
 
  
 
 
Noncurrent liabilities - accrued benefit liability
  $
(30.7
)    $
(33.2
) 
Accumulated other comprehensive loss - net actuarial loss
   
69.8
     
76.0
 
                 
Net amount included in retained earnings
  $
39.1
    $
42.8
 
                 
Components of Net Periodic Pension Benefit Cost and Other Changes in Plan Assets and Obligations Recognized in Earnings and Other Comprehensive Earnings
The components of the net periodic pension benefit cost for the plan and other changes in plan assets and obligations recognized in earnings and other comprehensive earnings consist of the following (in millions):
 
Year Ended December 31,
 
  
2019
 
  
2018
 
  
2017
 
Net periodic pension cost:
 
 
 
  
 
 
  
 
 
Service cost
  $
1.6
    $
0.8
    $
1.7
 
Interest cost on benefit obligation
   
9.8
     
9.3
     
10.0
 
Expected return on plan assets
   
(14.8
 )    
(16.0
 )    
(14.0
 )
Amortization of net loss
   
7.0
     
4.9
     
5.0
 
                         
Net periodic benefit cost
   
3.6
     
(1.0
 )    
2.7
 
                         
Other changes in plan assets and obligations recognized in other comprehensive earnings:
 
 
 
  
 
 
  
 
 
Net loss incurred
   
0.8
     
17.2
     
0.8
 
Amortization of net loss
   
(7.0
 )    
(4.9
 )    
(5.0
 )
                         
Total recognized in other comprehensive loss
   
(6.2
 )    
12.3
     
(4.2
 )
                         
Total recognized in net periodic pension cost and other comprehensive loss
  $
(2.6
 )   $
11.3
    $
(1.5
) 
                         
Estimated amortization for the following year:
 
 
 
  
 
 
  
 
 
Amortization of net loss
  $
6.1
    $
7.2
    $
5.0
 
                         
Weighted Average Assumptions of Pension Benefit Obligation and Net Periodic Pension Benefit Cost
The following weighted average assumptions were used at December 31 in determining the plan’s pension benefit obligation:
 
December 31,
 
  
2019
 
  
2018
 
Discount rate
   
3.00
 %    
4.00
 %
Weighted average expected long-term rate of return on plan assets
   
7.00
 %    
7.00
 %
The following weighted average assumptions were used at January 1 in determining the plan’s net periodic pension benefit cost:
 
Year Ended December 31,
 
  
2019
 
  
2018
 
  
2017
 
Discount rate
   
4.00
 %    
3.50
 %    
4.00
 %
Weighted average expected long-term rate of return on plan assets
   
7.00
 %    
7.00
 %    
7.00
 %
Schedule of Benefit Payments Expected to be Paid by Plan
The following benefit payments are expected to be paid by the plan (in millions):
2020
  $
16.2
 
2021
   
16.4
 
2022
   
16.6
 
2023
   
16.7
 
2024
   
16.7
 
Years 2025 to 2029
   
83.2
 
Summary of Plans Weighted Average Asset Allocations
The following is a summary of the plan’s weighted average asset allocations at December 31 by asset category:
 
December 31,
 
Asset Category
 
2019
 
  
2018
 
Equity securities
   
61.0
 %    
57.0
 %
Debt securities
   
32.0
 %    
36.0
 %
Real estate
   
7.0
 %    
7.0
 %
                 
Total
   
100.0
 %    
100.0
 %
                 
Summary of Plan's Assets Carried at Fair Value
The following is a summary of the plan’s assets carried at fair value as of December 31 by level within the fair value hierarchy (in millions):
 
December 31,
 
Fair Value Hierarchy
 
2019
 
  
2018
 
Level 1
  $
—  
     $
—  
  
Level 2
   
135.8
     
125.1
 
Level 3
   
107.9
     
94.9
 
                 
Total fair value
  $
243.7
    $
220.0
 
                 
Reconciliation of Beginning and Ending Balances for Level 3 Assets of Plan Measured at Fair Value
The following is a reconciliation of the beginning and ending balances for the Level 3 assets of the plan measured at fair value (in millions):
 
Year Ended December 31,
 
  
2019
 
  
2018
 
Fair value at January 1
  $
94.9
    $
111.9
 
Settlements
   
—  
      
(9.6
 )
Unrealized
gain
(loss)
    
13.0
     
(7.4
 )
                 
Fair value at December 31
  $
107.9
    $
94.9