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Pension and Other Postretirement Benefit Plans - Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets (Details) - USD ($) $ in Millions | Dec. 31, 2019 | Dec. 31, 2018
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Retirement Benefits [Abstract] |  |
Projected benefit obligation | $ 726.3 | $ 635.0
Accumulated benefit obligation | 711.5 | 624.0
Fair value of plan assets | $ 470.8 | $ 414.2

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