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Pension
 9 Months Ended
Sep. 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 nine months ended September 30, 2023 and 2022, are as follows:
 Quarters Ended September 30,Nine Months Ended September 30,
 2023202220232022
 (in millions)
Service cost$0.2 $0.4 $0.5 $1.1 
Interest cost3.4 2.5 10.2 7.4 
Expected return on plan assets(3.4)(3.3)(10.3)(9.9)
Amortization of net loss0.3 0.1 1.1 0.4 
Net periodic benefit cost (benefit)$0.5 $(0.3)$1.5 $(1.0)
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.