Equity and Redeemable Non-controlling Interest - Dividends (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020
Equity [Abstract]
Dividend amount per share (in dollars per share)	$ 0.42	$ 0.42	$ 0.42	$ 0.35	$ 0.35	$ 0.35	$ 0.35	$ 0.31	$ 0.31	$ 0.31	$ 0.30	$ 0.30
Total amount of dividends paid ($ in millions)	$ 11.4	$ 11.6	$ 11.9	$ 10.3	$ 10.6	$ 10.6	$ 9.3	$ 8.2	$ 8.2	$ 7.1	$ 6.8	$ 7.0

Amount of paid and unpaid common stock dividends declared with the form of settlement in cash, stock and payment-in-kind (PIK).

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.3-04)
-URI https://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 942
-SubTopic 405
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=6957935&loc=d3e64057-112817

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration