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Retirement Benefit Plans (Tables)
9 Months Ended
Sep. 30, 2021
Pension Plan  
Defined Benefit Plan Disclosure [Line Items]  
Net periodic benefit cost for the Company's retirement benefit plans
The following table sets forth the net periodic benefit cost for the Company’s defined benefit pension plans. The amounts for the three and nine months ended September 30, 2021 are based on calculations prepared by the Company's actuaries and represent the Company’s best estimate of that period’s proportionate share of the amounts to be recorded for the year ending December 31, 2021.
U.S. PlansInternational PlansTotal
 Three Months Ended
September 30,
Three Months Ended
September 30,
Three Months Ended
September 30,
 202120202021202020212020
Components of net periodic benefit
   cost (credit):
Service cost$2.4 $2.7 $0.5 $0.5 $2.9 $3.2 
Interest cost4.3 5.2 1.1 1.4 5.4 6.6 
Expected return on plan assets(5.5)(6.3)(2.5)(2.2)(8.0)(8.5)
Amortization of prior service cost0.4 0.4  — 0.4 0.4 
Recognition of net actuarial losses
  (gains)
3.9 (12.8) — 3.9 (12.8)
Curtailment loss 0.9  —  0.9 
   Net periodic benefit cost (credit)$5.5 $(9.9)$(0.9)$(0.3)$4.6 $(10.2)
U.S. PlansInternational PlansTotal
 Nine Months Ended
September 30,
Nine Months Ended
September 30,
Nine Months Ended
September 30,
 202120202021202020212020
Components of net periodic benefit
   cost (credit):
Service cost$7.2 $8.1 $1.5 $1.3 $8.7 $9.4 
Interest cost13.2 15.7 3.3 4.2 16.5 19.9 
Expected return on plan assets(17.7)(19.0)(7.6)(6.5)(25.3)(25.5)
Amortization of prior service cost1.0 1.2 0.1 0.1 1.1 1.3 
Recognition of net actuarial losses
   (gains)
8.3 (4.0) — 8.3 (4.0)
Curtailment loss 0.9  —  0.9 
   Net periodic benefit cost (credit)$12.0 $2.9 $(2.7)$(0.9)$9.3 $2.0