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Accounts Receivable Securitization Programs (Details)
 3 Months Ended 6 Months Ended
Jun. 30, 2022
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2022
USD ($)
bank
Jun. 30, 2021
USD ($)
Jun. 30, 2022
EUR (€)
Dec. 31, 2021
USD ($)
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Outstanding borrowings $ 1,800,000   $ 1,800,000     $ 1,300,000
Interest paid 39,500,000 $ 42,100,000 $ 78,400,000 $ 85,200,000    
U.S. Accounts Receivable Securitization Program | U.S. Program            
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank     2      
Level of eligible assets available under accounts receivable securitization program     $ 50,000,000      
Amounts available under program 50,000,000   50,000,000      
U.S. Accounts Receivable Securitization Program | U.S. Program | Maximum            
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Maximum purchase limit for receivable interests under accounts receivable securitization program 50,000,000   $ 50,000,000      
European Accounts Receivable Securitization Program | European Program            
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Number of banks involved in sale of fractional ownership interest of accounts receivable | bank     2      
Amounts available under program 83,500,000   $ 83,500,000   € 80,000,000  
European Accounts Receivable Securitization Program | European Program | Maximum            
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Maximum purchase limit for receivable interests under accounts receivable securitization program 83,500,000   83,500,000   € 80,000,000  
Accounts Receivable Securitization Programs            
Qualitative And Quantitative Information Transferors Continuing Involvement [Line Items]            
Outstanding borrowings 0   0     $ 0
Interest paid $ 0 $ 0 $ 0 $ 0