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Retirement Plans - Net Periodic Benefit Cost and General Information (Details) - USD ($) shares in Millions, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Net asset (liability) |  |  |
Long-term liabilities | $ (26.6) | $ (27.1) |
Defined Contribution Plans |  |  |
Defined contribution plan expense recognized | $ 14.8 | $ 13.3 | $ 12.2
Maximum company match (as a percent) | 4.00% |  |
Maximum percentage of employee compensation match by employer to employee stock ownership plan | 50.00% |  |
Shares held by the ESOP plan (in shares) | 1.1 | 1.2 | 1.3
Defined Benefit Plans |  |  |
Defined Benefit Plans |  |  |
Company's contribution to pension plan | $ 0.0 | $ 0.0 |
Net asset (liability) |  |  |
Long-term assets | 5.2 | 12.4 |
Current liabilities | (1.4) | (1.4) |
Long-term liabilities | (20.9) | (20.3) |
Net pension asset (liability) | (17.1) | (9.3) |
Components of net periodic benefit cost |  |  |
Service cost | 2.6 | 3.4 | $ 3.7
Interest cost | 5.3 | 5.4 | 7.1
Expected return on plan assets | (10.2) | (10.1) | (10.2)
Amortization of unrecognized loss | 2.3 | 2.1 | 4.1
Amortization of prior service credit | 0.2 | 0.2 | 0.2
Net periodic benefit cost | $ 0.2 | $ 1.0 | $ 4.9
Weighted-average assumptions for benefit obligations |  |  |
Discount rate (as a percent) | 3.49% | 3.86% |
Rate of compensation increase (as a percent) | 3.81% | 3.82% |
Weighted-average assumptions for net periodic benefit cost |  |  |
Discount rate (as a percent) | 3.91% | 4.35% | 3.87%
Rate of compensation increase (as a percent) | 3.82% | 4.29% | 4.29%
Expected long-term return on plan assets (as a percent) | 6.30% | 6.20% | 6.30%
Estimated future benefit payments |  |  |
2018 | $ 13.7 |  |
2019 | 14.2 |  |
2020 | 14.4 |  |
2021 | 14.1 |  |
2022 | 14.2 |  |
2023-2027 | 69.2 |  |
Executive supplemental and director defined benefit pension plans |  |  |
Defined Benefit Plans |  |  |
Company's contribution to pension plan | 1.4 | $ 1.0 |
Expected employer contributions in next fiscal year | $ 1.4 |  |

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