Derivative Financial Instruments and Risk Management - Narrative (Details) $ in Millions	3 Months Ended		6 Months Ended	9 Months Ended
	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Jun. 30, 2023 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)	Sep. 30, 2020 USD ($) derivative	May 31, 2020 USD ($) derivative
Derivatives, Fair Value [Line Items]
Derivative Asset	$ 24.5			$ 24.5		$ 33.0
Accumulated other comprehensive income (loss)	(1.1)	$ 4.4		(2.4)	$ 13.5
Gain on cross currency swap agreement				5.8
Proceeds from from cross currency swap				$ 5.8	0.0
Not Designated as Hedging Instrument | Foreign Exchange Contract
Derivatives, Fair Value [Line Items]
Derivative, term of contract (less than)				2 years
Notional amount	784.7			$ 784.7
Net Investment Hedging | Designated as Hedging Instrument
Derivatives, Fair Value [Line Items]
Derivative Asset						9.9
Net investment hedge recorded in other comprehensive income (loss)			$ 7.3
Net Investment Hedging | Designated as Hedging Instrument | Interest Rate Swap
Derivatives, Fair Value [Line Items]
Cross currency swap amount	116.4			116.4
Cash Flow Hedging | Designated as Hedging Instrument
Derivatives, Fair Value [Line Items]
Derivative Asset	16.8			16.8		$ 19.9
Accumulated other comprehensive income (loss)			$ 14.8	12.4
Cash Flow Hedging | Designated as Hedging Instrument | Interest Rate Swap
Derivatives, Fair Value [Line Items]
Number of derivative instruments held | derivative								1
Cash Flow Hedging | Designated as Hedging Instrument | Forward Starting Interest Rate Swap
Derivatives, Fair Value [Line Items]
Number of derivative instruments held | derivative							4
Cross currency swap amount							$ 200.0	$ 50.0
Interest Expense | Net Investment Hedging | Designated as Hedging Instrument | Interest Rate Swap
Derivatives, Fair Value [Line Items]
Gain (loss) recorded in interest expense	$ 0.1	$ 0.7		$ 1.5	$ 2.2