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Pension (Tables)
6 Months Ended
Jun. 30, 2023
Retirement Benefits [Abstract]  
Schedule of Net Periodic Benefit Cost
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)