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Accumulated Other Comprehensive Loss - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Unrecognized Net Defined Benefit Plan Costs |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on unrecognized net defined plan costs, net gains |  | $ 1.0 | $ 1.0
Reclassification adjustment from AOCI on unrecognized net defined plan costs, tax | $ 0.1 | 0.2 | 0.2
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 0.8 |  |
Designated as Hedging Instrument | Foreign Currency Forward Exchange Contracts |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 5.2 | (14.5) | (13.1)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | 1.2 | 3.5 | 3.0
Designated as Hedging Instrument | Interest Rate Swap Agreements |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 25.6 | (9.3) | 1.3
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | 6.0 | 2.2 | 0.2
Designated as Hedging Instrument | Commodity Swap Agreements |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 3.6 | (5.5) | (3.5)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) | $ 0.8 | $ 1.3 | $ 0.8

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