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Debt - Currency Swaps (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Debt      
Notional Amount $ 1,343.4   $ 1,524.8
Decrease in net interest expense 1.1 $ 1.4  
U.S. to Swiss Franc cross-currency and interest rate swap agreements      
Debt      
Notional Amount 149.3    
U.S. to Euro cross-currency and interest rate swap agreements      
Debt      
Notional Amount $ 249.3