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Insurance Liabilities - Liability for Unpaid Claims (Details) - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2021
Jun. 30, 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 748.7 609.5
Incurred: Prior years 33.3 34.7
Total incurred 782.0 644.2
Payments:    
Payments: Current year 454.4 333.7
Payments: Prior years 272.1 257.6
Total payments 726.5 591.3
Net balance at end of period, unpaid claims 2,153.5 2,014.6
Balance at end of period, reinsurance recoverables for unpaid claims 437.8 418.0
Balance at end of period, unpaid claims 2,591.3 2,432.6
Amount not included in the rollforward above:    
Claim adjustment expense liabilities $ 59.1 $ 56.9