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Fair Value of Financial Instruments - Valuation of Foreign Currency Exchange Contracts by Pricing Levels (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative asset position $ 5.4 $ 4.6
Fair Value, Recurring    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative fair value, net (1.7) 2.0
Fair Value, Recurring | Foreign currency forward contracts    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative asset position 0.2 0.2
Derivative liability position (4.5) (5.4)
Fair Value, Recurring | Interest rate swap contracts    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative asset position 5.2 7.2
Derivative liability position (2.6)  
Fair Value, Recurring | Level 2    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative fair value, net (1.7) 2.0
Fair Value, Recurring | Level 2 | Foreign currency forward contracts    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative asset position 0.2 0.2
Derivative liability position (4.5) (5.4)
Fair Value, Recurring | Level 2 | Interest rate swap contracts    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Derivative asset position 5.2 $ 7.2
Derivative liability position $ (2.6)