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Pension and Postretirement Benefits (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Domestic Plan    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost $ 6.3 $ 6.8
Interest cost 3.4 3.1
Expected return on plan assets (6.5) (6.5)
Amortization of prior service cost 0.1 0.0
Amortization of unrecognized net loss (gain) 1.0 1.9
Net periodic cost recognized 4.3 5.3
Foreign Plan    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 1.6 1.8
Interest cost 1.7 1.4
Expected return on plan assets (1.6) (1.5)
Amortization of prior service cost 0.1 0.1
Amortization of unrecognized net loss (gain) 0.7 1.1
Net periodic cost recognized 2.5 2.9
Postretirement Medical Benefits    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 0.0 0.0
Interest cost 0.1 0.1
Expected return on plan assets 0.0 0.0
Amortization of prior service cost 0.1 0.0
Amortization of unrecognized net loss (gain) 0.0 0.0
Net periodic cost recognized $ 0.2 $ 0.1