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Retirement and Deferred Compensation Plans - Schedule of Plans with Projected Benefit Obligation in Excess of Fair Value of Plan Assets (Details) - Pension Plan - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Defined Benefit Plan Disclosure [Line Items]    
Projected benefit obligation $ 503.2 $ 414.6
Plan assets $ 368.8 $ 324.3