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Hedging Activities, Derivative Instruments and Credit Risk - Balance Sheets (Details)	Dec. 31, 2023 USD ($)	Dec. 31, 2023 EUR (€)	Dec. 31, 2022 USD ($)	Dec. 30, 2022 USD ($)
Interest rate swap contracts \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Notional amount of derivative	$ 528,500,000		$ 528,500,000
Interest rate swap contracts \| Other Current Assets \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Assets fair value	8,200,000		8,800,000
Interest rate swap contracts \| Other Assets \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Assets fair value	1,200,000		5,300,000
Interest rate swap contracts \| Accrued Liabilities \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Liabilities fair value	0		0
Interest rate swap contracts \| Other Liabilities \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Liabilities fair value	0		0
Interest rate cap contracts \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Notional amount of derivative			1,000,000,000
Interest rate cap contracts \| Other Current Assets \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Assets fair value			8,300,000
Interest rate cap contracts \| Other Assets \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Assets fair value			9,800,000
Interest rate cap contracts \| Accrued Liabilities \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Liabilities fair value			0
Interest rate cap contracts \| Other Liabilities \| Derivatives Designated as Hedging Instruments \| Cash flow
Derivatives, Fair Value [Line Items]
Liabilities fair value			0
Cross-currency interest rate swap contracts \| Derivatives Designated as Hedging Instruments \| Net investment
Derivatives, Fair Value [Line Items]
Notional amount of derivative	1,054,200,000	€ 500,000,000	1,054,200,000	$ 528,500,000
Cross-currency interest rate swap contracts \| Other Current Assets \| Derivatives Designated as Hedging Instruments \| Net investment
Derivatives, Fair Value [Line Items]
Assets fair value	15,700,000		17,700,000
Cross-currency interest rate swap contracts \| Other Assets \| Derivatives Designated as Hedging Instruments \| Net investment
Derivatives, Fair Value [Line Items]
Assets fair value	0		0
Cross-currency interest rate swap contracts \| Accrued Liabilities \| Derivatives Designated as Hedging Instruments \| Net investment
Derivatives, Fair Value [Line Items]
Liabilities fair value	0		0
Cross-currency interest rate swap contracts \| Other Liabilities \| Derivatives Designated as Hedging Instruments \| Net investment
Derivatives, Fair Value [Line Items]
Liabilities fair value	$ 63,100,000		28,700,000
Foreign currency forwards \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Notional amount of derivative			7,300,000
Foreign currency forwards \| Other Current Assets \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Assets fair value			0
Foreign currency forwards \| Other Assets \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Assets fair value			0
Foreign currency forwards \| Accrued Liabilities \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Liabilities fair value			0
Foreign currency forwards \| Other Liabilities \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Liabilities fair value			0
Foreign currency forwards \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Notional amount of derivative			15,800,000
Foreign currency forwards \| Other Current Assets \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Assets fair value			0
Foreign currency forwards \| Other Assets \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Assets fair value			0
Foreign currency forwards \| Accrued Liabilities \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Liabilities fair value			0
Foreign currency forwards \| Other Liabilities \| Derivatives Not Designated as Hedging Instruments \| Fair value
Derivatives, Fair Value [Line Items]
Liabilities fair value			$ 0