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Debt - Currency Swaps (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Debt          
Notional Amount $ 1,331.3   $ 1,331.3   $ 1,524.8
Decrease in net interest expense 1.6 $ 1.3 2.7 $ 2.7  
U.S. to Swiss Franc cross-currency and interest rate swap agreements          
Debt          
Notional Amount 148.9   148.9    
U.S. to Euro cross-currency and interest rate swap agreements          
Debt          
Notional Amount $ 248.9   $ 248.9