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Retirement and Postretirement Benefits (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
U.S. Defined Benefit Plans    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost $ 6.2 $ 5.9
Interest cost 4.3 4.8
Expected return on plan assets (6.2) (6.1)
Amortization of prior service cost 0.0 0.1
Amortization of unrecognized net loss (gain) 1.5 1.2
Net periodic cost recognized 5.8 5.9
Non-U.S. Defined Benefit Plans    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 1.7 1.8
Interest cost 2.2 2.9
Expected return on plan assets (2.1) (2.7)
Amortization of prior service cost 0.0 0.0
Amortization of unrecognized net loss (gain) 0.9 1.3
Net periodic cost recognized 2.7 3.3
Postretirement Medical Benefits    
Components of the net periodic cost for retirement and postretirement benefits    
Service cost 0.0 0.0
Interest cost 0.2 0.3
Expected return on plan assets 0.0 0.0
Amortization of prior service cost 0.0 0.0
Amortization of unrecognized net loss (gain) 0.1 (0.1)
Net periodic cost recognized $ 0.3 $ 0.2