"with", "where" or "and"? A question about good writing style.

Question

If I am writing down this function $$ f: D^2\to \mathbb R $$ and want to communicate that $D\subseteq \mathbb R$, should I write $$ f: D^2\to \mathbb R \quad \mathrm {with} \quad D\subseteq \mathbb R$$ or $$ f: D^2\to \mathbb R \quad \mathrm {where} \quad D\subseteq \mathbb R$$ or $$ f: D^2\to \mathbb R \quad \mathrm {and} \quad D\subseteq \mathbb R$$?