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Insurance Liabilities - Liability for Unpaid Claims (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Change in unpaid claims    
Balance at beginning of period, unpaid claims $ 2,534.9 $ 2,365.5
Balance at beginning of period, reinsurance recoverables for unpaid claims 436.9 403.8
Net balance at beginning of period, unpaid claims 2,098.0 1,961.7
Incurred:    
Incurred: Current year 362.2 324.8
Incurred: Prior years 28.3 19.5
Total incurred 390.5 344.3
Payments:    
Payments: Current year 187.9 168.7
Payments: Prior years 175.1 166.3
Total payments 363.0 335.0
Net balance at end of period, unpaid claims 2,125.5 1,971.0
Balance at end of period, reinsurance recoverables for unpaid claims 433.9 413.9
Balance at end of period, unpaid claims 2,559.4 2,384.9
Amount not included in the rollforward above:    
Claim adjustment expense liabilities $ 58.5 $ 58.0