Derivatives and Hedging Activities - Narrative (Details) $ in Millions	3 Months Ended
	Mar. 31, 2024 USD ($) derivative	Mar. 31, 2023 USD ($)	Dec. 31, 2023 derivative	Jun. 30, 2015 EUR (€)
Derivative [Line Items]
Derivative interest income	$ 3.5	$ 4.4
Foreign currency forward contracts | Designated as hedging instruments
Derivative [Line Items]
Maximum original maturity of foreign currency forward contracts	12 months
Net unrealized after tax gain (loss) related to cash flow hedging activities	$ 1.4	1.1
Estimate of net unrealized derivative gains included in AOCI to be reclassified into earnings in next twelve months	$ 0.2
Foreign currency forward contracts | Derivatives not designated as hedging instruments
Derivative [Line Items]
Maximum original maturity of foreign currency forward contracts	12 months
Derivative interest income	$ 3.7	3.3
Interest rate swaps
Derivative [Line Items]
Number of derivative instruments outstanding | derivative	0		0
EUR - Denominated debt | Net investment hedge | 4.50% Senior Notes due September 2023
Derivative [Line Items]
Debt instrument aggregate principal | €				€ 400,000,000
Debt interest rate				4.50%
Cross-currency swaps
Derivative [Line Items]
Notional amount of outstanding derivative		432.8
Derivative interest income	$ 0.8	$ 0.5