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Debt - Currency Swaps (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Debt        
Reduction of interest expense by cross-currency and interest swap agreements $ 1.3 $ 1.8 $ 2.7 $ 4.4
US to Swiss Franc        
Debt        
Notional Amount 150.0   150.0  
US to Euro        
Debt        
Notional Amount $ 355.0   $ 355.0