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Retirement and Other Postretirement Benefit Plans - Schedule of Amounts Recognized on Balance Sheet (Details) - USD ($) $ in Millions | Jun. 30, 2020 | Dec. 31, 2019 | Jun. 30, 2019
--- | --- | --- | ---
Amounts recognized on the balance sheet: |  |  |
Other non-current liabilities | $ 54.1 | $ 53.3 |
Defined Benefit Retirement Plans | U.S. |  |  |
Amounts recognized on the balance sheet: |  |  |
Accrued liabilities | 1.3 | 1.4 |
Other non-current liabilities | 19.4 | 18.9 |
Total accrued benefit | $ 20.7 | $ 20.3 |
Defined Benefit Plan, Tax Status [Extensible List] | us-gaap:NonqualifiedPlanMember | us-gaap:NonqualifiedPlanMember | us-gaap:NonqualifiedPlanMember
Defined Benefit Retirement Plans | European |  |  |
Amounts recognized on the balance sheet: |  |  |
Other assets | $ 45.7 | $ 45.2 |
Accrued liabilities | 1.7 | 0.6 |
Other non-current liabilities | 19.3 | 18.9 |
Total accrued benefit | 21.0 | 19.5 |
Postretirement Health Care and Life Insurance Benefit Plans |  |  |
Amounts recognized on the balance sheet: |  |  |
Accrued liabilities | 0.5 | 0.5 |
Other non-current liabilities | 2.6 | 2.6 |
Total accrued benefit | $ 3.1 | $ 3.1 |

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