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Derivatives - Notional Amounts of Foreign Currency Forward Contracts (Details) - Foreign currency contracts - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Designated as hedges | Euro
Notional amounts of foreign currency forward contracts
Notional amounts	$ 227.0	$ 321.6
Designated as hedges | Canadian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	97.9	117.3
Designated as hedges | British pound
Notional amounts of foreign currency forward contracts
Notional amounts	56.9	40.4
Designated as hedges | Australian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	46.5	53.2
Designated as hedges | Swiss franc
Notional amounts of foreign currency forward contracts
Notional amounts	37.4	40.4
Designated as hedges | Swedish krona
Notional amounts of foreign currency forward contracts
Notional amounts		25.8
Designated as hedges | Other Currencies
Notional amounts of foreign currency forward contracts
Notional amounts	40.3	22.1	[1]
Not designated as hedges | Euro
Notional amounts of foreign currency forward contracts
Notional amounts	597.9	603.2
Not designated as hedges | Canadian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	77.2	32.2
Not designated as hedges | British pound
Notional amounts of foreign currency forward contracts
Notional amounts	174.9	115.1
Not designated as hedges | Mexican peso
Notional amounts of foreign currency forward contracts
Notional amounts	168.1	132.9
Not designated as hedges | Indian rupee
Notional amounts of foreign currency forward contracts
Notional amounts	55.3	52.6
Not designated as hedges | Australian dollar
Notional amounts of foreign currency forward contracts
Notional amounts	79.9	48.7
Not designated as hedges | Swiss franc
Notional amounts of foreign currency forward contracts
Notional amounts		28.3
Not designated as hedges | Japanese yen
Notional amounts of foreign currency forward contracts
Notional amounts	29.2	30.5
Not designated as hedges | Philippine peso
Notional amounts of foreign currency forward contracts
Notional amounts	38.0	26.2
Not designated as hedges | Chinese yuan
Notional amounts of foreign currency forward contracts
Notional amounts	30.0	30.1
Not designated as hedges | Brazilian real
Notional amounts of foreign currency forward contracts
Notional amounts	31.4
Not designated as hedges | Singapore dollar
Notional amounts of foreign currency forward contracts
Notional amounts	27.5
Not designated as hedges | Swedish krona
Notional amounts of foreign currency forward contracts
Notional amounts		26.7
Not designated as hedges | Other Currencies
Notional amounts of foreign currency forward contracts
Notional amounts	$ 146.2	$ 137.0	[1]
[1] Comprised of exposures to various currencies; none of these individual currency exposures is greater than $25 million.

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- Definition

Nominal or face amount used to calculate payment on derivative.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 815
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1B
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480434/815-10-50-1B

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 815
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1A
-Subparagraph (d)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480434/815-10-50-1A

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