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Employee Benefit Plans - Obligations and Funded Status (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Change in plan assets:      
Fair value of plan assets — beginning of year $ 441,700,000    
Fair value of plan assets — end of year 478,100,000 $ 441,700,000  
Postretirement Plans      
Change in projected benefit obligation:      
Projected benefit obligation — beginning of year 63,600,000 68,800,000  
Service cost 0 0 $ 0
Interest cost 1,600,000 2,400,000 2,300,000
Actuarial losses 1,900,000 2,500,000  
Benefits paid (6,600,000) (8,100,000)  
Projected benefit obligation — end of year 60,500,000 63,600,000 68,800,000
Change in plan assets:      
Funded status at year-end (60,500,000) (63,600,000)  
Amounts recognized in the consolidated balance sheets consist of:      
Other assets 0    
Accrued expenses (6,700,000) (7,200,000)  
Other long-term liabilities (53,800,000) (56,400,000)  
Net amount recognized (60,500,000) (63,600,000)  
Amount recognized in accumulated other comprehensive income (pre-tax) consists of:      
Amount recognized in accumulated other comprehensive income (pre-tax) consists of — net prior service (credits) costs (20,200,000) (24,900,000)  
Pension plans      
Employee benefit plans      
Non-funded plan, current underfunded status 66,200,000    
United States      
Change in projected benefit obligation:      
Projected benefit obligation — beginning of year 348,200,000 320,900,000  
Service cost 0 0 0
Interest cost 10,800,000 13,300,000 12,300,000
Actuarial losses 30,400,000 32,400,000  
Settlements (10,300,000) (12,700,000)  
Acquisition 0 7,100,000  
Benefits paid (14,400,000) (12,800,000)  
Foreign exchange and other 0 0  
Projected benefit obligation — end of year 364,700,000 348,200,000 320,900,000
Change in plan assets:      
Fair value of plan assets — beginning of year 263,600,000 238,000,000.0  
Actual return on plan assets 35,100,000 35,700,000  
Contributions (employer and employee) 5,800,000 6,200,000  
Settlements (10,300,000) (12,700,000)  
Benefits paid (14,400,000) (12,800,000)  
Acquisition 0 9,200,000  
Foreign exchange and other 0 0  
Fair value of plan assets — end of year 279,800,000 263,600,000 238,000,000.0
Funded status at year-end (84,900,000) (84,600,000)  
Amounts recognized in the consolidated balance sheets consist of:      
Other assets 2,600,000 2,300,000  
Accrued expenses (5,400,000) (5,500,000)  
Other long-term liabilities (82,100,000) (81,400,000)  
Net amount recognized (84,900,000) (84,600,000)  
Amount recognized in accumulated other comprehensive income (pre-tax) consists of:      
Amount recognized in accumulated other comprehensive income (pre-tax) consists of — net prior service (credits) costs (200,000) (300,000)  
Foreign Plan      
Change in projected benefit obligation:      
Projected benefit obligation — beginning of year 175,000,000.0 158,200,000  
Service cost 0 0 0
Interest cost 3,800,000 4,800,000 4,700,000
Actuarial losses 14,300,000 13,200,000  
Settlements 0 0  
Acquisition 0 0  
Benefits paid (6,700,000) (8,000,000.0)  
Foreign exchange and other 5,800,000 6,800,000  
Projected benefit obligation — end of year 192,200,000 175,000,000.0 158,200,000
Change in plan assets:      
Fair value of plan assets — beginning of year 178,100,000 159,200,000  
Actual return on plan assets 19,900,000 19,400,000  
Contributions (employer and employee) 900,000 1,000,000.0  
Settlements 0 0  
Benefits paid (6,700,000) (8,000,000.0)  
Acquisition 0 0  
Foreign exchange and other 6,100,000 6,500,000  
Fair value of plan assets — end of year 198,300,000 178,100,000 $ 159,200,000
Funded status at year-end 6,100,000 3,100,000  
Amounts recognized in the consolidated balance sheets consist of:      
Other assets 8,600,000 6,200,000  
Accrued expenses 0 0  
Other long-term liabilities (2,500,000) (3,100,000)  
Net amount recognized 6,100,000 3,100,000  
Amount recognized in accumulated other comprehensive income (pre-tax) consists of:      
Amount recognized in accumulated other comprehensive income (pre-tax) consists of — net prior service (credits) costs $ 1,200,000 $ 1,200,000