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Derivatives and Hedging Activities - Narrative (Details) $ in Millions | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 USD ($) derivative | Dec. 31, 2022 USD ($) derivative | Dec. 31, 2021 USD ($) | Mar. 31, 2023 USD ($) | Jan. 31, 2023 | Jun. 30, 2017 EUR (€)
Derivative [Line Items] |  |  |  |  |  |
Derivative interest income | $ 16.3 | $ 18.8 | $ 4.2 |  |  |
Senior Notes due September 2023 |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Debt interest rate | 4.50% |  |  |  | 4.50% |
Foreign Currency Forward Contracts | Designated as Hedging Instruments |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Unrealized gain (loss) on derivative instruments, net of taxes | $ (3.5) | 0.8 | 4.5 |  |  |
Estimate of net unrealized gains that will be reclassified into earnings in next twelve months | $ (1.2) |  |  |  |  |
Foreign Currency Forward Contracts | Not Designated as Hedging Instruments |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Maximum original maturity period of foreign currency forward contracts | 12 months |  |  |  |  |
Derivative interest income | $ 12.0 | $ 7.8 | $ 6.0 |  |  |
Interest Rate Swaps |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Number of derivative instruments outstanding | derivative | 0 | 0 |  |  |  |
EUR - Denominated debt | Net Investment Hedge | Senior Notes due September 2023 |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Debt instrument face amount | € |  |  |  |  |  | € 400,000,000
Debt interest rate |  |  |  |  |  | 4.50%
Cross-currency swaps |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Notional amount of outstanding derivative |  |  |  | $ 432.8 |  |
Cross-currency swaps | Net Investment Hedge |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |
Derivative liability | $ (19.9) |  |  |  |  |
Derivative interest income | $ 2.8 |  |  |  |  |

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