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Derivative Instruments - Effect of Derivative Instruments on Statement of Financial Position (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Derivative [Line Items]        
Interest expense $ 5.5 $ 4.9 $ 17.1 $ 16.6
Interest Expense | Interest Rate Swap        
Derivative [Line Items]        
Interest rate swap agreements designated as cash flow hedges 1.0 1.2 2.9 1.6
Cross currency swap agreement designated as net investment hedge, amounts excluded from effectiveness testing $ (0.1) $ 0.0 $ (0.1) $ 0.0