Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) - Foreign currency forward contracts - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Foreign Currency Fair Value Hedge Derivative [Line Items]
Maximum remaining maturity of foreign currency derivatives	60 months
Notional amount of derivatives	$ 253.6	$ 593.6
European Euro (EUR)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	79.9	61.7
British Pound (GBP)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	72.4	224.9
Swedish Krona (SEK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	36.5	56.9
United States Dollar (USD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	22.1	51.7
Chinese Yuan (CNH)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	14.1	34.4
Canadian Dollar (CAD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	7.1	24.9
Danish Krone (DKK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	5.9	51.7
Norwegian Krone (NOK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	4.4	12.4
Hungarian Forint (HUF)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	3.9	10.6
Polish Zloty (PLZ)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	3.8	25.2
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	3.5	25.9
Derivative, notional amount, maximum individual amount	$ 10.0	$ 10.0