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Pension Benefit Plans (Tables) | 6 Months Ended
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Jun. 30, 2021
Pension Benefit Plans |
Defined Benefit Plans and Other Postretirement Benefit Plans |
Components of net periodic pension cost |
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | U.S. | ​ | Non-U.S. |
​ |  | 2021 |  | 2020 |  | 2021 |  | 2020 |
Service cost | ​ | $ | 3 | ​ | $ | 3 | ​ | $ | 3 | ​ | $ | 4 | ​
Interest cost | ​ |  | 10 | ​ |  | 13 | ​ |  | 5 | ​ |  | 6 | ​
Expected asset return | ​ | ​ | (21) | ​ | ​ | (20) | ​ | ​ | (11) | ​ | ​ | (12) | ​
Amortization of actuarial loss | ​ | ​ | 16 | ​ | ​ | 14 | ​ | ​ | 3 | ​ | ​ | 3 | ​
Net periodic pension cost | ​ | $ | 8 | ​ | $ | 10 | ​ | $ | — | ​ | $ | 1 | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | U.S. | ​ | Non-U.S. |
​ |  | 2021 |  | 2020 |  | 2021 |  | 2020 |
Service cost | ​ | $ | 6 | ​ | $ | 6 | ​ | $ | 6 | ​ | $ | 7 | ​
Interest cost | ​ |  | 20 | ​ |  | 25 | ​ |  | 10 | ​ |  | 13 | ​
Expected asset return | ​ | ​ | (42) | ​ | ​ | (41) | ​ | ​ | (23) | ​ | ​ | (24) | ​
Amortization of actuarial loss | ​ | ​ | 32 | ​ | ​ | 28 | ​ | ​ | 7 | ​ | ​ | 6 | ​
Net periodic pension cost | ​ | $ | 16 | ​ | $ | 18 | ​ | $ | — | ​ | $ | 2 | ​

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Tabular disclosure of the components of net benefit costs for pension plans and/or other employee benefit plans including service cost, interest cost, expected return on plan assets, gain (loss), prior service cost or credit, transition asset or obligation, and gain (loss) recognized due to settlements or curtailments. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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