Derivative Instruments - Schedule of Notional Amounts of Outstanding Foreign Currency Contracts (Details) - Dec. 31, 2023 - Derivatives not designated as hedging instruments € in Millions, £ in Millions, kr in Millions, $ in Millions, $ in Millions	USD ($)	EUR (€)	CAD ($)	DKK (kr)	GBP (£)
Contracts to Buy | Buy Canadian Dollars and Sell Euros
Derivative [Line Items]
Derivative notional amount			$ 11.1
Contracts to Buy | Buy Canadian Dollars and Sell US Dollars
Derivative [Line Items]
Derivative notional amount			$ 271.5
Contracts to Buy | Buy Danish Krone and Sell US Dollars
Derivative [Line Items]
Derivative notional amount | kr				kr 115.6
Contracts to Buy | Buy Euros and Sell US Dollars
Derivative [Line Items]
Derivative notional amount | €		€ 55.5
Contracts to Buy | Buy Great Britain Pounds and sell Euros
Derivative [Line Items]
Derivative notional amount	$ 20.6
Contracts to Buy | Buy Great Britain Pounds and Sell US Dollars
Derivative [Line Items]
Derivative notional amount | £					£ 34.8
Contracts to Buy | Buy Norwegian Krone and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	138.1
Contracts to Buy | Buy Swedish Krona and Sell Euros
Derivative [Line Items]
Derivative notional amount | £					£ 205.0
Contracts to Sell | Buy Canadian Dollars and Sell Euros
Derivative [Line Items]
Derivative notional amount | €		7.5
Contracts to Sell | Buy Canadian Dollars and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	200.7
Contracts to Sell | Buy Danish Krone and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	17.0
Contracts to Sell | Buy Euros and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	59.6
Contracts to Sell | Buy Great Britain Pounds and sell Euros
Derivative [Line Items]
Derivative notional amount	23.8
Contracts to Sell | Buy Great Britain Pounds and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	43.8
Contracts to Sell | Buy Norwegian Krone and Sell US Dollars
Derivative [Line Items]
Derivative notional amount	$ 13.1
Contracts to Sell | Buy Swedish Krona and Sell Euros
Derivative [Line Items]
Derivative notional amount | €		€ 16.8