Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) - Foreign currency forward contracts - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Foreign Currency Fair Value Hedge Derivative [Line Items]
Maximum remaining maturity of foreign currency derivatives	60 months
Notional amount of derivatives	$ 593.6	$ 588.1
British Pound (GBP)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	224.9	135.8
European Euro (EUR)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	61.7	232.6
Swedish Krona (SEK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	56.9	47.8
Danish Krone (DKK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	51.7	37.5
United States Dollar (USD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	51.7	22.9
Chinese Yuan (CNH)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	34.4	37.7
Polish Zloty (PLZ)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	25.2	21.0
Canadian Dollar (CAD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	24.9	29.0
Mexican Peso (MXN)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	13.3	1.0
Norwegian Krone (NOK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	12.4	11.0
Hungarian Forint (HUF)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	10.6	0.0
Other
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	25.9	11.8
Derivative, notional amount, maximum individual amount	$ 10.0	$ 10.0