Derivative Financial Instruments - Foreign Exchange Rate Risk (Details) - Dec. 31, 2023 - Foreign Exchange Forward - Designated as Hedging Instrument € in Millions, ¥ in Millions, $ in Millions, $ in Millions	SGD ($)	USD ($)	EUR (€)	JPY (¥)
EUR | Purchase
Derivative [Line Items]
Derivative, notional amount | €			€ 19.8
EUR | Sell
Derivative [Line Items]
Derivative, notional amount		$ 21.6	0.0
Yen | Purchase
Derivative [Line Items]
Derivative, notional amount | ¥				¥ 6,065.2
Yen | Sell
Derivative [Line Items]
Derivative, notional amount		30.7	13.2
SGD | Purchase
Derivative [Line Items]
Derivative, notional amount | $	$ 41.6
SGD | Sell
Derivative [Line Items]
Derivative, notional amount		$ 13.9	€ 15.8