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Financial Instruments - Fair Value on a Recurring Basis (Details) - USD ($) $ in Millions | Mar. 31, 2024 | Dec. 31, 2023
--- | --- | ---
Interest Rate Swap | Prepaid Expenses and Other Current Assets |  |
Assets |  |
Derivative assets | $ 3.8 | $ 3.5
Interest Rate Swap | Other Noncurrent Assets |  |
Assets |  |
Derivative assets | 3.1 | 3.0
Fair value measured on a recurring basis |  |
Assets |  |
Plan asset for deferred compensation | 2.5 | 2.3
Total assets | 9.5 | 8.8
Liabilities |  |
Plan liability for deferred compensation | 2.5 | 2.3
Total liabilities | 3.3 | 4.5
Fair value measured on a recurring basis | Interest Rate Swap |  |
Assets |  |
Derivative assets | 6.9 | 6.5
Liabilities |  |
Derivative liabilities | 0.8 | 2.0
Fair value measured on a recurring basis | Forward exchange contracts |  |
Assets |  |
Derivative assets | 0.1 |
Liabilities |  |
Derivative liabilities |  | 0.2
Fair value measured on a recurring basis | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |
Assets |  |
Plan asset for deferred compensation | 2.5 | 2.3
Total assets | 2.5 | 2.3
Liabilities |  |
Plan liability for deferred compensation | 2.5 | 2.3
Total liabilities | 2.5 | 2.3
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2) |  |
Assets |  |
Total assets | 7.0 | 6.5
Liabilities |  |
Total liabilities | 0.8 | 2.2
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2) | Interest Rate Swap |  |
Assets |  |
Derivative assets | 6.9 | 6.5
Liabilities |  |
Derivative liabilities | 0.8 | 2.0
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2) | Forward exchange contracts |  |
Assets |  |
Derivative assets | $ 0.1 |
Liabilities |  |
Derivative liabilities |  | $ 0.2

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