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Pensions (Tables)
6 Months Ended
Jun. 30, 2021
Retirement Benefits [Abstract]  
Summary of Components of Net Periodic Pension (Benefit) Expense
The following table summarizes the components of Net periodic pension benefit: 
 U.S. Benefit PlanNon-U.S. Benefit Plan
 Three Months Ended
June 30,
Six Months Ended
June 30,
Three Months Ended
June 30,
Six Months Ended
June 30,
(in millions)20212020202120202021202020212020
Service cost$— $— $— $— $— $— $0.1 $0.1 
Interest cost1.2 1.4 2.4 2.8 0.1 0.2 0.3 0.5 
Amortization of actuarial loss0.9 0.8 1.9 1.6 0.2 0.1 0.4 0.2 
Amortization of prior service cost— — — — 0.1 0.1 0.1 0.1 
Expected return on plan assets(2.4)(2.3)(4.8)(4.6)(0.5)(0.4)(1.0)(0.9)
Net periodic pension benefit$(0.3)$(0.1)$(0.5)$(0.2)$(0.1)$— $(0.1)$—