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Retirement Plans - Net Annual Benefit Costs Assumptions (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Pensions      
Components of net annual benefit cost:      
Expected return on plan assets (percentage) 5.50% 4.50% 4.50%
Service cost $ 1.5 $ 1.7 $ 1.6
Interest cost 1.2 1.1 1.2
Expected return on plan assets (1.7) (1.4) (1.2)
Amortization of prior service cost 0.2 0.1 0.1
Amortization of net actuarial and other (gain) loss 0.0 0.1 0.1
Recognized (gain) loss due to curtailments 0.2 0.0 0.1
Net annual benefit cost 1.4 1.6 1.9
Other Benefits      
Components of net annual benefit cost:      
Service cost 0.0 0.0 0.0
Interest cost 0.0 0.0 0.0
Expected return on plan assets 0.0 0.0 0.0
Amortization of prior service cost 0.0 0.0 0.0
Amortization of net actuarial and other (gain) loss 0.0 0.0 0.0
Recognized (gain) loss due to curtailments 0.0 0.0 0.0
Net annual benefit cost $ 0.0 $ 0.0 $ 0.0
Qualified Plan | Pensions      
Components of net annual benefit cost:      
Discount rate - qualified benefit plans 2.75% 2.45% 3.15%
Qualified Plan | Other Benefits      
Components of net annual benefit cost:      
Discount rate - qualified benefit plans 0.00% 0.00% 0.00%
Nonqualified Plan | Pensions      
Components of net annual benefit cost:      
Discount rate - qualified benefit plans 2.65% 2.30% 3.10%
Nonqualified Plan | Other Benefits      
Components of net annual benefit cost:      
Discount rate - qualified benefit plans 2.60% 2.20% 3.05%