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Pensions - Summary of Components of Net Periodic Pension Expense (Benefit) (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
U.S. |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |
Interest cost | $ 1.5 | $ 1.0 | $ 3.0 | $ 2.1
Amortization of actuarial loss | 0.3 | 0.6 | 0.6 | 1.1
Amortization of prior service cost | 0.0 | 0.0 | 0.0 | 0.0
Expected return on plan assets | (1.9) | (1.8) | (3.8) | (3.5)
Net periodic pension (benefit) expense | (0.1) | (0.2) | (0.2) | (0.3)
Non-U.S. Benefit Plan |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |
Interest cost | 0.4 | 0.2 | 0.8 | 0.4
Amortization of actuarial loss | 0.3 | 0.1 | 0.5 | 0.3
Amortization of prior service cost | 0.0 | 0.1 | 0.0 | 0.1
Expected return on plan assets | (0.5) | (0.5) | (1.0) | (1.0)
Net periodic pension (benefit) expense | $ 0.2 | $ (0.1) | $ 0.3 | $ (0.2)

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