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Pension and Other Postemployment Benefits
 9 Months Ended
Sep. 30, 2020
Pension and Other Postemployment Benefits [Abstract]  
Pension and Other Postemployment Benefits Pension and Other Postemployment Benefits
Defined Benefit Pension Plans
The components of net periodic benefit expense were (in millions):
Nine Months Ended September 30,
20202019
Service cost$5.6 $6.4 
Interest cost5.0 4.9 
Expected return on plan assets(0.7)(1.1)
Amortization of prior service cost0.5 0.6 
Amortization of actuarial losses4.0 0.9 
 $14.4 $11.7 
We contributed $0.9 million and $1.0 million to our defined benefit pension plans in the nine months ended September 30, 2020 and 2019, respectively.
Postemployment Arrangements
The components of net periodic benefit expense were (in millions):
Nine Months Ended September 30,
20202019
Service cost$3.5 $3.3 
Interest cost2.6 3.3 
Amortization of prior service cost3.2 3.3 
Amortization of actuarial losses1.6 0.7 
 $10.9 $10.6