Derivative Financial Instruments Narrative (Details) $ / shares in Units, shares in Millions		3 Months Ended			9 Months Ended
	Feb. 28, 2021 USD ($)	Sep. 30, 2021 USD ($) contracts $ / shares shares	Jun. 30, 2021 USD ($) $ / shares shares	Sep. 30, 2020 USD ($) shares	Sep. 30, 2021 USD ($) contracts shares	Sep. 30, 2020 USD ($) shares	Mar. 17, 2021 USD ($)	Dec. 31, 2020 USD ($)	Jun. 30, 2020 USD ($)	Apr. 30, 2018 USD ($)	Oct. 31, 2015 USD ($)
Accumulated Other Comprehensive Income (Loss), Net of Tax		$ 151,739,000			$ 151,739,000			$ 138,526,000
Derivative, notional amount			$ 84,100,000
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | shares		0.4		0.8	0.5	0.8
Deferred tax assets, derivative instruments		$ 20,600,000	$ 20,600,000		$ 20,600,000
Treasury stock, shares, acquired | shares			3.7
Class of warrant or right, exercise price of warrants or rights | $ / shares			$ 180.00
Class of Warrant or Right, Premium, Percentage			1
Class of Warrant or Right, Aggregate Proceeds From Transaction			$ 45,300,000
Number of Counterparties [Member]
Derivative counterparties		4			4			6
Net Unrealized Gain (Loss) on Nonderivative Instruments
Accumulated Other Comprehensive Income (Loss), Net of Tax		$ 14,400,000		$ 14,400,000	$ 14,400,000	$ 14,400,000
Convertible Debt Securities
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | shares		3.7	3.7		3.7
Common stock, conversion price (in dollars per share) | $ / shares		$ 126.00	$ 126.00
Forward Contracts [Member]
Number of foreign exchange contracts | contracts		37			37
Foreign Exchange Contract [Member] | Minimum | Not Designated as Hedging Instrument [Member]
Derivative, notional amount		$ 150,000			$ 150,000
Foreign Exchange Contract [Member] | Maximum | Not Designated as Hedging Instrument [Member]
Derivative, notional amount		$ 56,400,000			$ 56,400,000
Interest Rate Swap [Member]
Derivative, notional amount									$ 240,000,000		$ 214,000,000
Number of interest rate derivatives held									1		1
Derivative, fixed interest rate									0.617%		1.42%
Derivative, termination fee							$ 1,700,000
Currency Swap [Member]
Derivative, notional amount										$ 56,000,000
Number of interest rate derivatives held										1
Derivative, fixed interest rate										1.38%
Foreign Exchange Option [Member]
Derivative, notional amount	$ 77,000,000
Derivative purchase price	$ 1,100,000