Derivatives and Hedging - Forward Currency Forward Contracts (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Derivative [Line Items]
Minimum length of time, foreign currency cash flow hedge	12 months
Maximum maturity for foreign currency cash flow hedge	15 months
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	$ 16.2	$ 6.9	$ 3.0
Forward points amortized on derivatives	0.4
Designated as Hedging Instrument \| Cash Flow Hedging
Derivative [Line Items]
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	16.2	6.8	3.0
Settlement of cross-currency swap contract	3.2	(3.1)	15.7
Foreign currency forward contracts \| Designated as Hedging Instrument
Derivative [Line Items]
Derivative instrument, notional amount	100.0	3.3
Foreign currency forward contracts \| Designated as Hedging Instrument
Derivative [Line Items]
Interest rate cash flow hedge loss to be reclassified during next 12 months, net	2.4
Foreign currency forward contracts \| Designated as Hedging Instrument \| Cash Flow Hedging
Derivative [Line Items]
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	2.0	2.4	0.8
Settlement of cross-currency swap contract	$ 4.8	$ 1.7	$ 1.1

Aggregate notional amount specified by the derivative(s). Expressed as an absolute value.

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- Definition

Minimum Length of Time, Foreign Currency Cash Flow Hedge

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The estimated net amount of existing gains or losses on cash flow hedges at the reporting date expected to be reclassified to earnings within the next 12 months.

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- Definition

Amount of gain (loss) from excluded component of derivative hedge, recognized in earnings. Excludes recognition under systematic and rational method.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The amount of net gains or losses on foreign currency cash flow hedges reclassified during the period to earnings from accumulated other comprehensive income upon the hedged transaction affecting earnings.

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Maximum period of time the entity is hedging its exposure to variability in future cash flows for forecasted transactions, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Excludes forecasted transactions related to payment of variable interest on existing financial instruments.

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Amount, before tax and reclassification, of gain (loss) from derivative instrument designated and qualifying cash flow hedge included in assessment of hedge effectiveness.

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