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Employee Benefit Plans - Schedule of Fair Value of Plan Assets for Which the Accumulated Benefit Obligation is in Excess of the Plan Assets (Details) - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | ---
United States |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Projected benefit obligation | $ 151.9 | $ 142.3
Accumulated benefit obligation | 151.9 | 142.3
Fair value of plan assets | 113.7 | 99.6
Non-U.S. Pension Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Projected benefit obligation | 104.9 | 90.5
Accumulated benefit obligation | 99.3 | 86.4
Fair value of plan assets | $ 52.3 | $ 45.2

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