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Derivatives and Hedging - Forward Currency Forward Contracts (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Derivative [Line Items] |  |  |
Net (gain) loss reclassified from accumulated other comprehensive income | $ 2.8 |  |
Designated as Hedging Instrument | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Change in derivative instruments | 15.5 | $ 16.2 | $ 6.8
Settlement of cross-currency swap contract | 14.1 | 3.2 | (3.1)
Foreign currency forward contracts | Designated as Hedging Instrument |  |  |
Derivative [Line Items] |  |  |
Derivative instrument, notional amount |  | 100.0 |
Foreign currency forward contracts | Designated as Hedging Instrument |  |  |
Derivative [Line Items] |  |  |
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months, net | 0.4 |  |
Foreign currency forward contracts | Designated as Hedging Instrument | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Change in derivative instruments | 8.6 | 2.0 | 2.4
Settlement of cross-currency swap contract | $ 5.9 | $ 4.8 | $ 1.7

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