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Derivatives - Narrative (Details)
€ in Millions, $ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Mar. 31, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2022
EUR (€)
Jun. 30, 2022
USD ($)
Sep. 25, 2018
6.875% Senior Unsecured Notes Due 2026 | Unsecured Debt                
Derivative [Line Items]                
Interest rate (percent)   6.875%   6.875%       6.875%
Cross Currency Swap | Foreign exchange contracts - net investment hedge                
Derivative [Line Items]                
Derivative amounts excluded from effectiveness testing as interest expense   $ 3.4 $ 2.1 $ 8.0 $ 6.9      
Cross Currency Swap | Derivatives designated as cash flow hedge                
Derivative [Line Items]                
Notional value           € 450.0 $ 478.2  
Series of Pay-Fixed, Receive-Variable Interest Rate Swaps, Terminated                
Derivative [Line Items]                
Notional value $ 500.0              
Derivative, cash received on hedge 23.6              
Pay-Fixed, Receive-Variable Interest Rate Swaps, Maturing on January 31, 2027 and December 31, 2027                
Derivative [Line Items]                
Notional value $ 500.0              
Interest Rate Swap | Interest rate contracts - fair value hedge                
Derivative [Line Items]                
Notional value             $ 173.4  
Pay Fixed Receive Variable Interest Rate Swaps Maturing On May 6 2027 And April 20 2028                
Derivative [Line Items]                
Notional value     $ 650.0   $ 650.0