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Retirement Benefit Plans (Tables)
 9 Months Ended
Sep. 30, 2019
Compensation And Retirement Disclosure [Abstract]  
Components of Net Periodic Pension Expense

The components of net periodic pension expense for our U.S. and foreign defined benefit pension plans are as follows (in millions):

 

 

 

Three Months Ended

 

 

Nine Months Ended

 

 

 

September 30,

 

 

September 30,

 

 

 

2019

 

 

2018

 

 

2019

 

 

2018

 

Service cost

 

$

6.5

 

 

$

6.8

 

 

$

19.6

 

 

$

21.3

 

Interest cost

 

 

6.4

 

 

 

5.6

 

 

 

18.8

 

 

 

16.7

 

Expected return on plan assets

 

 

(11.2

)

 

 

(11.6

)

 

 

(34.1

)

 

 

(35.1

)

Amortization of prior service cost

 

 

(1.8

)

 

 

(2.4

)

 

 

(5.5

)

 

 

(7.4

)

Amortization of unrecognized actuarial loss

 

 

5.5

 

 

 

6.7

 

 

 

16.3

 

 

 

19.5

 

Net periodic pension expense

 

$

5.4

 

 

$

5.1

 

 

$

15.1

 

 

$

15.0