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Debt - Currency Swaps (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Debt        
Reduction of interest expense by cross-currency and interest swap agreements $ 1.4 $ 1.4 $ 4.1 $ 5.8
US to Swiss Franc        
Debt        
Notional Amount 150.0   150.0  
US to Euro        
Debt        
Notional Amount $ 355.0   $ 355.0