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Pension and Other Postemployment Benefits
3 Months Ended
Mar. 31, 2021
Pension and Other Postemployment Benefits [Abstract]  
Pension and Other Postemployment Benefits Pension and Other Postemployment Benefits
Defined Benefit Pension Plans
The components of net periodic benefit expense were (in millions):
Three Months Ended March 31,
20212020
Service cost$1.4 $2.0 
Interest cost0.8 1.3 
Expected return on plan assets(0.2)(0.3)
Amortization of prior service cost0.2 0.2 
Amortization of actuarial losses2.3 1.4 
 $4.5 $4.6 
We contributed $0.2 million and $0.1 million to our defined benefit pension plans in the three months ended March 31, 2021 and 2020, respectively.
Postemployment Arrangements
The components of net periodic benefit expense were (in millions):
Three Months Ended March 31,
20212020
Service cost$1.2 $1.2 
Interest cost0.5 0.9 
Amortization of prior service cost1.0 1.1 
Amortization of actuarial losses1.0 0.5 
 $3.7 $3.7