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Retirement and Other Postretirement Benefit Plans - Schedule of Amounts Recognized on Balance Sheet (Details) - USD ($) $ in Millions | Mar. 31, 2021 | Dec. 31, 2020 | Mar. 31, 2020
--- | --- | --- | ---
Amounts recognized on the balance sheet: |  |  |
Other non-current liabilities | $ 52.2 | $ 53.9 |
Defined Benefit Retirement Plans | U.S. |  |  |
Amounts recognized on the balance sheet: |  |  |
Accrued liabilities | 3.8 | 3.8 |
Other non-current liabilities | 19.6 | 19.4 |
Total accrued benefit | $ 23.4 | $ 23.2 |
Defined Benefit Plan, Tax Status [Extensible List] | Non-qualified | Non-qualified | Non-qualified
Defined Benefit Retirement Plans | European |  |  |
Amounts recognized on the balance sheet: |  |  |
Other assets | $ 33.5 | $ 31.5 |
Accrued liabilities | 1.0 | 0.9 |
Other non-current liabilities | 19.1 | 17.7 |
Total accrued benefit | 20.1 | 18.6 |
Postretirement Health Care and Life Insurance Benefit Plans |  |  |
Amounts recognized on the balance sheet: |  |  |
Accrued liabilities | 0.4 | 0.4 |
Other non-current liabilities | 2.2 | 2.2 |
Total accrued benefit | $ 2.6 | $ 2.6 |

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