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Debt - Credit Agreements (Details) - USD ($)
$ in Millions
12 Months Ended
Jul. 12, 2021
Dec. 11, 2019
Dec. 31, 2022
Dec. 31, 2019
Oct. 27, 2015
Jan. 31, 2012
Revolving lines of credit            
Maximum commitment       $ 730.7    
Debt Instrument Prepayment Percentage Of Aggregate Principal Amount 10.00%   10.00%      
Minimum interest coverage ratio required     3.50      
Debt Instrument redemption price     100.00%      
Adjusted LIBOR            
Revolving lines of credit            
Interest rate added to base rate (as a percent)     1.00%      
2019 Credit Agreement            
Revolving lines of credit            
Maximum commitment   $ 600.0        
Revolving credit facility term   5 years        
Incremental facility   $ 250.0        
Maximum Leverage Ratio     3.5      
Minimum coverage ratio     2.5      
2019 Credit Agreement | Minimum            
Revolving lines of credit            
Facility fee (as a percent)     0.10%      
2019 Credit Agreement | Maximum            
Revolving lines of credit            
Facility fee (as a percent)     0.20%      
2019 Credit Agreement | Greatest of prime rate, federal funds rate plus spread and adjusted LIBOR plus spread | Minimum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)     0.10%      
2019 Credit Agreement | Greatest of prime rate, federal funds rate plus spread and adjusted LIBOR plus spread | Maximum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)     0.50%      
2019 Credit Agreement | Prime rate            
Revolving lines of credit            
Variable interest rate base     prime rate      
2019 Credit Agreement | Federal Funds            
Revolving lines of credit            
Variable interest rate base     federal funds effective rate      
2019 Credit Agreement | LIBOR            
Revolving lines of credit            
Variable interest rate base     LIBOR      
2019 Credit Agreement | Adjusted LIBOR            
Revolving lines of credit            
Variable interest rate base     adjusted      
2019 Term Loan            
Revolving lines of credit            
Maximum commitment   $ 300.0        
Revolving credit facility term   7 years        
2019 Term Loan | Prime rate            
Revolving lines of credit            
Variable interest rate base   prime rate        
2019 Term Loan | Federal Funds            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   1.00%        
2019 Term Loan | Adjusted LIBOR            
Revolving lines of credit            
Variable interest rate base   USD LIBOR        
Interest rate added to base rate (as a percent)   1.00%        
2019 Term Loan | Adjusted LIBOR | Minimum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   0.10%        
2019 Term Loan | Adjusted LIBOR | Maximum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   0.50%        
2019 Term Loan | USD LIBOR            
Revolving lines of credit            
Variable interest rate base   USD LIBOR        
2019 Term Loan | USD LIBOR | Minimum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   1.00%        
2019 Term Loan | USD LIBOR | Maximum            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   1.50%        
2019 Note Purchase Agreement            
Revolving lines of credit            
Interest rate added to base rate (as a percent)   1.01%        
Senior notes           $ 240.0
Additional aggregate principal amount that may be issued   $ 297.0        
Prepayment price as percentage of principal amount, in the event of a change in control   $ 100.0        
Maximum leverage ratio allowed   3.50        
Minimum interest coverage ratio required   2.50        
Priority debt as a percentage of consolidated net worth   15.00%        
Debt Instrument redemption price   10.00%        
4.31% Series 2012A Senior Notes, Tranche C, due January 18, 2022            
Revolving lines of credit            
Facility fee (as a percent)         4.31%  
Senior notes         $ 105.0 $ 105.0
Interest rate, stated percentage           4.31%
4.46% Series 2012A Senior Notes, Tranche D, due January 18, 2024            
Revolving lines of credit            
Facility fee (as a percent)         4.46%  
Senior notes         $ 100.0 $ 100.0
Interest rate, stated percentage           4.46%
Switzerland Francs Notes Under The 2021 Notes Purchase Agreement            
Revolving lines of credit            
Senior notes $ 300.0          
Interest rate, stated percentage 0.88%          
Euro Notes Under The 2021 Purchase Agreement            
Revolving lines of credit            
Senior notes $ 150.0          
Interest rate, stated percentage 1.03%          
Debt instument our date Dec. 08, 2031          
2021 Notes Under Purchase Agreement            
Revolving lines of credit            
Debt Instrument, Frequency of Periodic Payment semi-annually on June 7 and December 7 of each year          
Debt Instrument, Payment Terms semi-annually          
Debt Instrument, Date of First Required Payment Jun. 07, 2022          
Prepayment price as percentage of principal amount, in the event of a change in control $ 100.0          
Maximum leverage ratio allowed 3.50          
Minimum interest coverage ratio required 1.00          
Priority debt as a percentage of consolidated net worth 15.00%          
3.16% Series 2012A Senior Notes, Tranche A, due January 18, 2017            
Revolving lines of credit            
Senior notes           $ 20.0
Interest rate, stated percentage           3.16%
3.74% Series 2012A Senior Notes, Tranche B, due January 18, 2019            
Revolving lines of credit            
Senior notes           $ 15.0
Interest rate, stated percentage           3.74%
2012 Note Purchase Agreement            
Revolving lines of credit            
Prepayment price as percentage of principal amount, in the event of a change in control     $ 100.0      
Minimum interest coverage ratio required     2.50      
Priority debt as a percentage of consolidated net worth     25.00%      
Period for interest coverage ratio     4 days      
2012 Note Purchase Agreement | Minimum            
Revolving lines of credit            
Debt instrument prepayment notice period     30 days      
2012 Note Purchase Agreement | Maximum            
Revolving lines of credit            
Debt instrument prepayment notice period     60 days