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Derivatives and Hedging Activities - Derivatives and their location on the condensed consolidated balance sheets (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative asset, notional amount $ 113.4 $ 23.6
Derivative liability, notional amount 40.4 58.2
Interest rate caps | Derivatives not designated as hedging instruments | Other long-term assets    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative asset, notional amount 9.0  
Interest rate caps | Derivatives in cash flow hedging relationships | Other long-term assets    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative asset, notional amount 10.4 2.9
Interest rate swaps | Derivatives not designated as hedging instruments | Other long-term assets    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative asset, notional amount 8.5 12.5
Interest rate swaps | Derivatives not designated as hedging instruments | Other long-term liabilities    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative liability, notional amount 8.5 12.4
Interest rate swaps | Derivatives in cash flow hedging relationships | Other long-term assets    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative asset, notional amount 85.5 8.2
Interest rate swaps | Derivatives in cash flow hedging relationships | Other long-term liabilities    
Reclassification Adjustment out of Accumulated Other Comprehensive Income on Derivatives [Line Items]    
Derivative liability, notional amount $ 31.9 $ 45.8