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Derivative Instruments - Effect of Derivative Instruments on Statement of Financial Position (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Derivative [Line Items]        
Interest expense $ 4.9 $ 6.0 $ 9.9 $ 11.6
Interest Expense | Interest Rate Swap        
Derivative [Line Items]        
Interest rate swap agreements designated as cash flow hedges 0.6 0.9 1.6 1.9
Cross currency swap agreement designated as net investment hedge, amounts excluded from effectiveness testing $ (0.5) $ 0.0 $ (0.8) $ 0.0