Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) - Foreign currency forward contracts - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 330.8	$ 593.6
Maximum remaining maturity of foreign currency derivatives	60 months
British Pound (GBP)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 83.6	224.9
European Euro (EUR)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	77.4	61.7
Swedish Krona (SEK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	45.7	56.9
United States Dollar (USD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	35.7	51.7
Danish Krone (DKK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	26.3	51.7
Chinese Yuan (CNH)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	22.7	34.4
Canadian Dollar (CAD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	20.0	24.9
Polish Zloty (PLZ)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	5.9	25.2
Norwegian Krone (NOK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	5.1	12.4
Hungarian Forint (HUF)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	3.7	10.6
Mexican Peso (MXN)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	0.0	13.3
Other
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	4.7	25.9
Maximum individual amount	$ 10.0	$ 10.0