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Derivative Instruments - Narrative (Details)
€ in Millions, $ in Millions
1 Months Ended 12 Months Ended
Jul. 31, 2022
USD ($)
Apr. 30, 2022
USD ($)
Rate
Feb. 28, 2022
USD ($)
Rate
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Nov. 30, 2022
USD ($)
Rate
Apr. 30, 2022
EUR (€)
Rate
Feb. 28, 2022
EUR (€)
Rate
Sep. 30, 2021
USD ($)
Rate
Sep. 30, 2021
EUR (€)
Rate
Mar. 27, 2020
Sep. 25, 2019
USD ($)
Jan. 31, 2019
USD ($)
Derivative [Line Items]                            
Cash inflow from settlement of net investment hedges       $ 10.0                
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration] Derivative Liability, Noncurrent                          
Interest rate cash flow hedge loss to be reclassified during next twelve months, net       (6.3)                    
Spot exchange rate | Rate             102.05%              
Designated as Hedging Instrument | Cash Flow Hedge                            
Derivative [Line Items]                            
Derivative, notional amount       250.0 250.0                  
January 2019 Swap | Not Designated as Hedging Instrument                            
Derivative [Line Items]                            
Derivative, notional amount                           $ 200.0
Derivative, fixed interest rate                           2.56%
January 2019 Swap | Designated as Hedging Instrument | Cash Flow Hedge                            
Derivative [Line Items]                            
Derivative, notional amount       $ 200.0 $ 200.0                  
Derivative, fixed interest rate       2.09% 2.09%             2.10% 2.31%  
September 2019 Swap | Designated as Hedging Instrument | Cash Flow Hedge                            
Derivative [Line Items]                            
Derivative, notional amount       $ 50.0 $ 50.0               $ 50.0  
Derivative, fixed interest rate       1.50% 1.50%               1.50%  
September 2021 Swap                            
Derivative [Line Items]                            
Derivative, notional amount                   $ 80.0        
Derivative, fixed interest rate                   5.84% 5.84%      
Derivative, Description of Terms       The September 2021 Swap involves the receipt of fixed-rate amounts from a counterparty in exchange for us making fixed-rate payments over the life of the contract without exchange of the underlying notional amounts. At a spot exchange rate of 1.1835, we converted notional amounts of approximately $80.0 million at 5.84% for €67.6 million at 5.02%. The change in fair value of the September 2021 Swap is recorded in currency translation in other comprehensive income (loss) and accumulated other comprehensive income (loss). Components of the September 2021 Swap excluded from the assessment of effectiveness are amortized out of accumulated other comprehensive income (loss) and into interest expense over the life of the September 2021 Swap to maturity on June 1, 2024.                    
Spot exchange rate | Rate                   118.35% 118.35%      
Derivative notional amount, converted | €                     € 67.6      
Derivative notional amount, converted rate | Rate                   502.00% 502.00%      
February 2022 Swap                            
Derivative [Line Items]                            
Derivative, notional amount     $ 80.0                      
Derivative, fixed interest rate     5.84%           5.84%          
Gains (losses) on derivatives   $ 2.8 $ 2.1                      
Spot exchange rate | Rate     113.45%           113.45%          
Derivative notional amount, converted | €                 € 70.5          
Derivative notional amount, converted rate | Rate     437.00%           437.00%          
April 2022 Swap                            
Derivative [Line Items]                            
Derivative, notional amount   $ 80.0                        
Derivative, fixed interest rate   5.84%           5.84%            
Gains (losses) on derivatives $ 5.1                          
Spot exchange rate | Rate   108.27%           108.27%            
Derivative notional amount, converted | €               € 73.9            
Derivative notional amount, converted rate   3.93           3.93            
Interest Rate Swap Seven [Member]                            
Derivative [Line Items]                            
Derivative, notional amount             $ 80.0              
Derivative, fixed interest rate             5.84%              
Derivative notional amount, converted             $ 78.4              
Derivative notional amount, converted rate             3.95