Derivative Instruments and Hedging Activities - Income and Comprehensive Income Statement (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Not designated as hedging instruments
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ 13.5	$ (3.3)	$ (5.4)
Not designated as hedging instruments | Forward currency contract
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	12.4	(3.2)	(5.5)
Not designated as hedging instruments | Embedded derivatives in purchase and delivery contracts
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ 1.1	$ (0.1)	$ 0.1
Not designated as hedging instruments | Interest and other income (expense), net | Forward currency contract
Derivative instruments and hedging activities
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)
Not designated as hedging instruments | Interest and other income (expense), net | Embedded derivatives in purchase and delivery contracts
Derivative instruments and hedging activities
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)
Designated as hedging instrument
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ (77.1)	$ 44.2	$ 51.4
Designated as hedging instrument | Cash Flow Hedging | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	10.4	0.1	(4.7)
Designated as hedging instrument | Cash Flow Hedging | Accumulated other comprehensive income | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ (5.5)	$ 21.2	$ 15.0
Designated as hedging instrument | Cash Flow Hedging | Interest and other income (expense), net | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)
Designated as hedging instrument | Net Investment Hedging
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ 31.8	$ 5.3	$ 0.1
Designated as hedging instrument | Net Investment Hedging | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	7.9	8.5	10.2
Designated as hedging instrument | Net Investment Hedging | Long-Term Debt [Member]
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	(52.1)	13.9	10.8
Designated as hedging instrument | Net Investment Hedging | Accumulated other comprehensive income
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	(71.6)	23.0	36.4
Designated as hedging instrument | Net Investment Hedging | Accumulated other comprehensive income | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ (19.5)	$ 9.1	$ 25.6
Designated as hedging instrument | Net Investment Hedging | Interest and other income (expense), net | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)	Other Nonoperating Income (Expense)
Designated as hedging instrument | Net Investment Hedging | Interest and other income (expense), net | Long-Term Debt [Member]
Derivative instruments and hedging activities
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Comprehensive Income (Loss), Net of Tax, Including Portion Attributable to Noncontrolling Interest	Comprehensive Income (Loss), Net of Tax, Including Portion Attributable to Noncontrolling Interest	Comprehensive Income (Loss), Net of Tax, Including Portion Attributable to Noncontrolling Interest