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Retirement Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Defined Contribution Plan Disclosure [Line Items] |
Defined Contribution Plan Disclosures [Table Text Block] | The table below provides detail of employer contributions for these plans.
| Year Ended December 31,
(in millions) | 2023 | 2022 | 2021
Employer contributions (U.S. employees) | $ | 52.1 |  | 50.1 |  | 42.7 |
Employer contributions (non-U.S. employees) | 46.9 |  | 43.2 |  | 42.4 |
Schedule of Net Funded Status | The following table provides the projected benefit obligation and plan assets, the net of which represents our funded status, as well as the accumulated benefit obligations of our defined benefit pension plans.
| December 31,
(in millions) | 2023 | 2022
Projected benefit obligation | $ | 277.4 |  | 257.1 |
Fair value of plan assets | 315.3 |  | 287.1 |
Funded status and net amount recognized | 37.9 |  | 30.0 |
Accumulated benefit obligation | $ | 277.4 |  | 257.1 |
Schedule of Amounts Recognized in Balance Sheet | Defined benefit pension plan amounts recorded in the Consolidated Balance Sheets are presented in the below table.
| December 31,
(in millions) | 2023 | 2022
Pension assets (included in Other assets) | $ | 41.8 |  | 31.3 |
Pension liabilities (included in Other liabilities) | (3.9) |  | (1.3) |
Net asset recognized | $ | 37.9 |  | 30.0 |
Accumulated other comprehensive loss | $ | 100.4 |  | 97.6 |

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