Derivatives and Hedging Activities - Narrative (Details) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($) derivative	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) derivative	Jun. 30, 2022 USD ($)	Mar. 31, 2023 USD ($)	Dec. 31, 2022 derivative	Jun. 30, 2015 EUR (€)
Derivative [Line Items]
Derivative interest income	$ 4.3	$ 4.6	$ 8.7	$ 6.5
4.50% Senior Notes due September 2023
Derivative [Line Items]
Debt interest rate	4.50%		4.50%
Foreign currency forward contracts | Designated as hedging instruments
Derivative [Line Items]
Maximum original maturity of foreign currency forward contracts			12 months
Net unrealized after tax gain (loss) related to cash flow hedging activities	$ 0.5	3.3	$ (2.1)	1.8
Estimate of net unrealized derivative gains included in AOCI to be reclassified into earnings in next twelve months			$ 0.2
Foreign currency forward contracts | Derivatives not designated as hedging instruments
Derivative [Line Items]
Maximum original maturity of foreign currency forward contracts			12 months
Derivative interest income	$ 3.4	$ 2.2	$ 6.7	$ 2.1
Interest rate swaps
Derivative [Line Items]
Number of derivative instruments outstanding | derivative	0		0			0
EUR - Denominated debt | Net investment hedge | 4.50% Senior Notes due September 2023
Derivative [Line Items]
Debt instrument aggregate principal | €							€ 400,000,000
Debt interest rate							4.50%
Cross-currency swaps
Derivative [Line Items]
Notional amount of outstanding derivative					$ 432.8
Cross-currency swaps | Net investment hedge
Derivative [Line Items]
Derivative liability	$ 8.5		$ 8.5
Derivative interest income	$ 0.8		$ 1.3