Derivatives and Hedging Activities - Narrative (Details) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023 USD ($) derivative	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) derivative	Sep. 30, 2022 USD ($)	Mar. 31, 2023 USD ($)	Dec. 31, 2022 derivative	Jun. 30, 2015 EUR (€)
Derivative [Line Items]
Derivative interest income	$ (0.1)	$ 4.8	$ 8.6	$ 11.3
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	$ 0.9	3.1	$ (1.2)	4.9
Estimate of net unrealized derivative gains included in AOCI to be reclassified into earnings in next twelve months			$ 1.1
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	$ (1.1)	$ 1.7	$ 5.6	$ 3.8
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	$ 2.5		$ 2.5
Derivative interest income	$ 0.8		$ 2.1