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Benefit Plans and Other Postretirement Benefits, Net pension expense (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
United States      
Weighted average assumptions used to determine net periodic benefit cost/expense:      
Rate of compensation increase (as a percent) 2.60% 3.00% 3.00%
Foreign Plans      
Weighted average assumptions used to determine net periodic benefit cost/expense:      
Rate of compensation increase (as a percent) 1.78% 1.77% 1.70%
Pension Benefits      
Components of net pension expense:      
Service cost $ 7.5 $ 8.0 $ 7.3
Interest cost 16.7 21.5 19.6
Expected return on plan assets (37.2) (36.9) (38.3)
Amortization of prior service cost 2.1 1.8 2.3
Settlements 0.0 0.0 0.6
Amortization of net actuarial losses 25.2 18.5 23.2
Net pension expense 14.3 12.9 14.7
Pension Benefits | United States      
Components of net pension expense:      
Service cost 4.5 5.4 4.5
Interest cost 13.2 16.8 14.9
Expected return on plan assets (33.8) (33.2) (34.5)
Amortization of prior service cost 2.1 1.7 2.3
Settlements 0.0 0.0 0.0
Amortization of net actuarial losses 19.8 14.4 19.0
Net pension expense $ 5.8 $ 5.1 $ 6.2
Weighted average assumptions used to determine net periodic benefit cost/expense:      
Discount rate (as a percent) 3.11% 4.14% 3.48%
Expected long-term return on assets (as a percent) 7.50% 7.50% 7.75%
Pension Benefits | Foreign Plans      
Components of net pension expense:      
Service cost $ 3.0 $ 2.6 $ 2.8
Interest cost 3.5 4.7 4.7
Expected return on plan assets (3.4) (3.7) (3.8)
Amortization of prior service cost 0.0 0.1 0.0
Settlements 0.0 0.0 0.6
Amortization of net actuarial losses 5.4 4.1 4.2
Net pension expense $ 8.5 $ 7.8 $ 8.5
Weighted average assumptions used to determine net periodic benefit cost/expense:      
Discount rate (as a percent) 1.59% 2.28% 2.21%
Expected long-term return on assets (as a percent) 3.25% 3.75% 3.69%