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Hedging Activities, Derivative Instruments and Credit Risk - Investment in Consolidated Subsidiaries with Functional Currencies Other than USD (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Interest rate swap contracts      
Derivatives, Fair Value [Line Items]      
Gain (loss), net of income tax, recorded through other comprehensive income $ 36.4 $ 35.0 $ (45.1)