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Employee Benefit Plans - Reconciliation of the Changes in Benefit Obligation, Plan Assets, and Funded Status (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Change in Plan Assets |  |  |
Fair value of plan assets, beginning of year | $ 144.8 |  |
Fair value of plan assets, end of year | 166.0 | $ 144.8 |
Amounts recognized in the Consolidated Balance Sheets as of December 31 |  |  |
Long-term pension obligation | (89.3) | (86.4) |
Long-term postretirement medical and other benefit obligations | (14.0) | (16.4) |
United States |  |  |
Change in Benefit Obligation |  |  |
Benefit obligation, beginning of year | 142.3 | 130.5 |
Service cost | 0.0 | 0.0 |
Interest cost | 4.0 | 5.1 |
Participant contributions | 0.0 | 0.0 |
Plan curtailment | 0.0 | 0.0 |
Actuarial (gain) loss | 13.4 | 13.8 |
Currency translation adjustment | 0.0 | 0.0 |
Benefits paid | (7.8) | (7.1) |
Benefit obligation, end of year | 151.9 | 142.3 | $ 130.5
Change in Plan Assets |  |  |
Fair value of plan assets, beginning of year | 99.6 | 84.9 |
Actual return on plan assets | 12.7 | 16.8 |
Employer contributions | 9.2 | 5.0 |
Participant contributions | 0.0 | 0.0 |
Currency translation adjustment | 0.0 | 0.0 |
Benefits paid | (7.8) | (7.1) |
Fair value of plan assets, end of year | 113.7 | 99.6 | 84.9
Funded status | (38.2) | (42.7) |
Amounts recognized in the Consolidated Balance Sheets as of December 31 |  |  |
Short-term pension obligation | (0.5) | (0.5) |
Long-term pension obligation | (37.7) | (42.2) |
Short-term postretirement medical and other benefit obligations | 0.0 | 0.0 |
Long-term postretirement medical and other benefit obligations | 0.0 | 0.0 |
Net amount recognized | $ (38.2) | $ (42.7) |
Weighted-Average Assumptions |  |  |
Discount rate | 2.40% | 3.30% |
Expected return on plan assets (as a percent) | 5.20% | 5.20% |
Rate of compensation increase | 0.00% | 0.00% |
Non-US Pension Plans |  |  |
Change in Benefit Obligation |  |  |
Benefit obligation, beginning of year | $ 90.6 | $ 81.9 |
Service cost | 2.1 | 1.8 |
Interest cost | 1.8 | 2.2 |
Participant contributions | 0.0 | 0.0 |
Plan curtailment | (0.1) | 0.0 |
Actuarial (gain) loss | 9.7 | 8.3 |
Currency translation adjustment | 5.3 | 1.1 |
Benefits paid | (4.5) | (4.7) |
Benefit obligation, end of year | 104.9 | 90.6 | 81.9
Change in Plan Assets |  |  |
Fair value of plan assets, beginning of year | 45.2 | 40.1 |
Actual return on plan assets | 6.0 | 4.2 |
Employer contributions | 3.9 | 4.0 |
Participant contributions | 0.0 | 0.0 |
Currency translation adjustment | 1.7 | 1.6 |
Benefits paid | (4.5) | (4.7) |
Fair value of plan assets, end of year | 52.3 | 45.2 | 40.1
Funded status | (52.6) | (45.4) |
Amounts recognized in the Consolidated Balance Sheets as of December 31 |  |  |
Short-term pension obligation | (1.1) | (1.3) |
Long-term pension obligation | (51.5) | (44.1) |
Short-term postretirement medical and other benefit obligations | 0.0 | 0.0 |
Long-term postretirement medical and other benefit obligations | 0.0 | 0.0 |
Net amount recognized | $ (52.6) | $ (45.4) |
Weighted-Average Assumptions |  |  |
Discount rate | 1.10% | 1.50% |
Expected return on plan assets (as a percent) | 2.30% | 3.50% |
Rate of compensation increase | 3.10% | 3.60% |
Postretirement Medical and Other |  |  |
Change in Benefit Obligation |  |  |
Benefit obligation, beginning of year | $ 18.4 | $ 20.7 |
Service cost | 0.2 | 0.2 | 0.2
Interest cost | 0.4 | 0.8 | 0.8
Participant contributions | 0.3 | 0.4 |
Plan curtailment | 0.0 | 0.0 |
Actuarial (gain) loss | (1.3) | (1.5) |
Currency translation adjustment | 0.0 | 0.0 |
Benefits paid | (2.2) | (2.2) |
Benefit obligation, end of year | 15.8 | 18.4 | 20.7
Change in Plan Assets |  |  |
Fair value of plan assets, beginning of year | 0.0 | 0.0 |
Actual return on plan assets | 0.0 | 0.0 |
Employer contributions | 1.9 | 1.8 |
Participant contributions | 0.3 | 0.4 |
Currency translation adjustment | 0.0 | 0.0 |
Benefits paid | (2.2) | (2.2) |
Fair value of plan assets, end of year | 0.0 | 0.0 | $ 0.0
Funded status | (15.8) | (18.4) |
Amounts recognized in the Consolidated Balance Sheets as of December 31 |  |  |
Short-term pension obligation | 0.0 | 0.0 |
Long-term pension obligation | 0.0 | 0.0 |
Short-term postretirement medical and other benefit obligations | (1.8) | (2.1) |
Long-term postretirement medical and other benefit obligations | (14.0) | (16.3) |
Net amount recognized | $ (15.8) | $ (18.4) |
Weighted-Average Assumptions |  |  |
Discount rate | 2.00% | 2.90% |
Expected return on plan assets (as a percent) | 0.00% | 0.00% | 0.00%
Rate of compensation increase | 0.00% | 0.00% |

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- Definition Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4179-114921 + Details
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- Definition Amount of gain (loss) from change in actuarial assumptions which (increases) decreases benefit obligation of defined benefit plan. Assumptions include, but are not limited to, interest, mortality, employee turnover, salary, and temporary deviation from substantive plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(4) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(3) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2919-114920 + Details
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- Definition Amount of foreign currency translation gain (loss) which increases (decreases) plan assets of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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