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Retirement Plans - Plan Assets and Estimated Future Benefit Payments (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Retirement plans      
Expected contribution in next fiscal year $ 1.1    
Estimated future benefit payments      
Fiscal 2021 1.0    
Fiscal 2022 1.1    
Fiscal 2023 1.2    
Fiscal 2024 1.2    
Fiscal 2025 1.3    
Fiscal 2026 ‑ Fiscal 2029 $ 8.0    
Target and actual asset allocations      
Total target plan assets 100.00%    
Total actual plan assets 100.00%    
Total assets $ 31.3 $ 27.0 $ 22.2
United States Retirement Plan      
Target and actual asset allocations      
Expected long-term return assumption (percentage) 5.75%    
Canadian Retirement Plan      
Target and actual asset allocations      
Expected long-term return assumption (percentage) 4.30%    
Total equity based funds      
Target and actual asset allocations      
Total target plan assets 60.00%    
Total actual plan assets 56.60%    
Total assets $ 17.7 15.0  
U.S. equity      
Target and actual asset allocations      
Total assets 6.5 5.5  
International equity      
Target and actual asset allocations      
Total assets $ 11.2 9.5  
Debt securities      
Target and actual asset allocations      
Total target plan assets 40.00%    
Total actual plan assets 43.10%    
Other      
Target and actual asset allocations      
Total target plan assets 0.00%    
Total actual plan assets 0.30%    
Common/collective trust - fixed income      
Target and actual asset allocations      
Total assets $ 13.5 11.9  
Money market funds      
Target and actual asset allocations      
Total assets $ 0.1 $ 0.1