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Retirement and Postretirement Benefits (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Domestic Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost $ 6.3 $ 6.4 $ 18.9 $ 19.4
Interest cost 2.9 3.8 8.9 11.3
Expected return on plan assets (6.3) (6.4) (19.0) (19.3)
Amortization of prior service cost 0.0 0.0 0.1 0.1
Amortization of unrecognized net loss (gain) 1.9 1.7 5.8 5.2
Net periodic cost recognized 4.8 5.5 14.7 16.7
Foreign Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 1.8 2.0 5.5 5.4
Interest cost 1.3 1.8 4.1 5.0
Expected return on plan assets (1.5) (1.4) (4.6) (3.8)
Amortization of prior service cost 0.0 0.1 0.2 0.2
Amortization of unrecognized net loss (gain) 1.1 1.2 3.3 3.3
Net periodic cost recognized 2.7 3.7 8.5 10.1
Postretirement Medical Benefits        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 0.0 0.0 0.0 0.0
Interest cost 0.1 0.1 0.3 0.4
Expected return on plan assets 0.0 0.0 0.0 0.0
Amortization of prior service cost 0.0 0.0 0.1 0.1
Amortization of unrecognized net loss (gain) 0.0 0.0 0.0 (0.1)
Net periodic cost recognized $ 0.1 $ 0.1 $ 0.4 $ 0.4