Derivatives - Notional Amounts of Foreign Currency Forward Contracts (Details) - Foreign currency contracts - USD ($) $ in Millions	Sep. 30, 2021	Dec. 31, 2020
Designated as hedges | Euro
Notional amounts of foreign currency forward contracts
Notional amounts	$ 403.2	$ 428.9
Designated as hedges | British pound
Notional amounts of foreign currency forward contracts
Notional amounts	69.6	71.9
Designated as hedges | Canadian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	141.7	131.9
Designated as hedges | Australian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	64.3	58.3
Designated as hedges | Swiss franc
Notional amounts of foreign currency forward contracts
Notional amounts	44.5	41.1
Designated as hedges | Japanese yen
Notional amounts of foreign currency forward contracts
Notional amounts	37.0	36.6
Designated as hedges | Swedish krona
Notional amounts of foreign currency forward contracts
Notional amounts	28.6
Designated as hedges | Other currencies
Notional amounts of foreign currency forward contracts
Notional amounts	1.8	29.5
Not designated as hedges | Euro
Notional amounts of foreign currency forward contracts
Notional amounts	592.0	533.0
Not designated as hedges | British pound
Notional amounts of foreign currency forward contracts
Notional amounts	152.6	153.9
Not designated as hedges | Mexican peso
Notional amounts of foreign currency forward contracts
Notional amounts	92.4	105.0
Not designated as hedges | Indian rupee
Notional amounts of foreign currency forward contracts
Notional amounts	64.8	81.0
Not designated as hedges | Canadian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	78.5	71.5
Not designated as hedges | Australian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	97.7	68.1
Not designated as hedges | Swiss franc
Notional amounts of foreign currency forward contracts
Notional amounts	28.3
Not designated as hedges | Japanese yen
Notional amounts of foreign currency forward contracts
Notional amounts	45.7	39.6
Not designated as hedges | Philippine peso
Notional amounts of foreign currency forward contracts
Notional amounts		35.2
Not designated as hedges | Russian ruble
Notional amounts of foreign currency forward contracts
Notional amounts	42.5	31.2
Not designated as hedges | Chinese yuan
Notional amounts of foreign currency forward contracts
Notional amounts	32.5
Not designated as hedges | Indonesian rupiah
Notional amounts of foreign currency forward contracts
Notional amounts		29.1
Not designated as hedges | Swedish krona
Notional amounts of foreign currency forward contracts
Notional amounts		26.0
Not designated as hedges | Other currencies
Notional amounts of foreign currency forward contracts
Notional amounts	198.0	151.5
Maximum individual currency exposure within various other currencies	$ 25.0	$ 25.0