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Employee Benefit Plans - Net Periodic Benefit Cost and General Information (Details) - USD ($) shares in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Net asset (liability) |  |  |
Long-term liabilities | $ (26,300,000) | $ (25,300,000) |
Components of net periodic benefit cost |  |  |
Mandatory minimum employer contributions to pension plans | $ 0 | 0 |
Defined Contribution Plans |  |  |
Maximum company match (as a percent) | 4.00% |  |
Defined contribution plan expense recognized | $ 16,900,000 | $ 16,600,000 | $ 15,200,000
Maximum percentage of employee compensation match by employer to employee stock ownership plan | 50.00% |  |
Shares held by the ESOP plan (in shares) | 0.8 | 0.9 | 1.0
Deferred Compensation - Cash |  |  |
Deferred compensation plan, employer matching contribution (percent) | 4.00% |  |
Deferred compensation arrangement, compensation distribution period | 10 years |  |
Cash |  |  |
Deferred Compensation - Cash |  |  |
Deferred compensation, Rabbi Trust | $ 6,600,000 | $ 6,100,000 |
Short-term Investments |  |  |
Deferred Compensation - Cash |  |  |
Deferred compensation, Rabbi Trust | $ 7,700,000 | $ 5,500,000 |
Defined Benefit Plans |  |  |
Weighted-average assumptions for benefit obligations |  |  |
Discount rate (as a percent) | 2.10% | 3.00% |
Rate of compensation increase (as a percent) | 3.80% | 3.80% |
Weighted-average assumptions for net periodic benefit cost |  |  |
Discount rate (as a percent) | 3.00% | 4.10% | 3.50%
Rate of compensation increase (as a percent) | 3.80% | 3.80% | 3.80%
Expected long-term return on plan assets (as a percent) | 6.60% | 6.30% | 6.30%
Weighted-average cash balance interest crediting rate (as a percent) | 4.00% | 4.00% | 4.00%
Net asset (liability) |  |  |
Current liabilities | $ (1,500,000) | $ (1,500,000) |
Long-term liabilities | (22,500,000) | (20,900,000) |
Net pension liability | (24,000,000.0) | (22,400,000) |
Components of net periodic benefit cost |  |  |
Service cost | 3,000,000.0 | 2,800,000 | $ 3,100,000
Interest cost | 4,500,000 | 6,100,000 | 5,500,000
Expected return on plan assets | (9,800,000) | (9,700,000) | (10,300,000)
Amortization of unrecognized loss | 5,100,000 | 3,100,000 | 4,300,000
Amortization of prior service credit | 200,000 | 200,000 | 300,000
Net periodic benefit cost | 3,000,000.0 | 2,500,000 | $ 2,900,000
Estimated future benefit payments |  |  |
2021 | 13,900,000 |  |
2022 | 14,300,000 |  |
2023 | 14,600,000 |  |
2024 | 14,400,000 |  |
2025 | 14,700,000 |  |
2026-2030 | 62,700,000 |  |
Executive supplemental and director defined benefit pension plans |  |  |
Components of net periodic benefit cost |  |  |
Company's contribution to pension plan | 1,500,000 | $ 1,600,000 |
Expected employer contributions in next fiscal year | $ 1,500,000 |  |

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- Definition Amount of cost for actuarial present value of benefits attributed to service rendered by employee for defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4179-114921 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 6 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2709-114920 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 5: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 18 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4587-114921 + Details
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- Definition Amount of cost for defined contribution plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 70 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=49170846&loc=d3e28014-114942 + Details
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