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Debt, U.S. Senior Notes (Details) - USD ($)
$ in Millions
3 Months Ended
Apr. 01, 2020
Feb. 20, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Debt          
Repayments of long-term debt     $ 0.8 $ 0.3  
U.S. Senior Notes          
Debt          
Redemption price as a percentage of principal amount     100.00%    
Debt instrument, covenant compliance     At March 31, 2021, the Company was in compliance with the financial covenants under its U.S. Senior Notes.    
2.20% Senior Notes due April 2020          
Debt          
Stated interest rate (as a percent) 2.20%        
Repayments of long-term debt $ 400.0        
4.350% Senior Notes due June 2029          
Debt          
Stated interest rate (as a percent)     4.35%   4.35%
2.800% Senior Notes due February 2030          
Debt          
Stated interest rate (as a percent)     2.80%   2.80%
3.125% Senior Notes due September 2021          
Debt          
Stated interest rate (as a percent)     3.125%   3.125%
4.00% Senior Notes due February 2022          
Debt          
Stated interest rate (as a percent)     4.00%   4.00%
3.20% Senior Notes due April 2024          
Debt          
Stated interest rate (as a percent)     3.20%   3.20%
2.05% Senior Notes due March 2025          
Debt          
Redemption price as a percentage of principal amount   100.00%      
Debt instrument, principal amount   $ 400.0      
Stated interest rate (as a percent)   2.05% 2.05%   2.05%
Debt instrument, face amount, net of discount (as a percent)   99.829%      
Debt maturity date     Mar. 01, 2025