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Pension
 6 Months Ended
Jun. 30, 2023
Retirement Benefits [Abstract]  
Pension Pension
The components of net periodic benefit cost for our U.S. and foreign defined benefit pension plans for the quarters and six months ended June 30, 2023 and 2022, are as follows:
 Quarters Ended June 30,Six Months Ended June 30,
 2023202220232022
 (in millions)
Service cost$0.2 $0.3 $0.3 $0.7 
Interest cost3.5 2.5 6.8 4.9 
Expected return on plan assets(3.5)(3.3)(6.9)(6.6)
Amortization of net loss0.4 0.2 0.8 0.3 
Net periodic benefit cost (benefit)$0.6 $(0.3)$1.0 $(0.7)
A $5.5 million contribution was made in July 2023 to our U.S. defined benefit pension plans. We do not anticipate making any further contributions to our U.S. defined benefit pension plans in calendar year 2023.