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Retirement and Benefit Plans - Plan Assumptions (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
For measuring benefit obligations at year end      
Discount rate 2.26% 3.05% 4.10%
For measuring net periodic benefit cost      
Discount rate 3.05% 4.10% 3.47%
Expected return on plan assets 2.64% 5.50% 6.00%