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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