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Benefit Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Defined Benefit Plan Disclosure [Line Items]      
Discretionary contributions to benefit plans $ 19.4 $ 20.8 $ 20.1
Controlling interests      
Defined Benefit Plan Disclosure [Line Items]      
Discretionary contributions to benefit plans $ 3.6 $ 4.8 $ 3.9