Derivatives and Hedging - Interest Rate Hedge Contract and Cross-Currency Debt Swap (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Derivative [Line Items]
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	$ 16.2	$ 6.9	$ 3.0
Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Settlement of cross-currency swap contract	3.2	(3.1)	15.7
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	16.2	6.8	3.0
Cross-currency debt swap contracts | Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Settlement of cross-currency swap contract	0.0	0.0	18.5
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	0.0	0.0	15.1
Cross-currency debt swap contracts | Other income (expense)
Derivative [Line Items]
Settlement of cross-currency swap contract	0.0	0.0	11.1
Other comprehensive income (loss), foreign currency transaction and translation gain (loss) arising during period, net of tax			5.7
Cross-currency debt swap contracts | Interest Income
Derivative [Line Items]
Settlement of cross-currency swap contract			1.7
Currency and Interest Rate Swap Agreements | Designated as Hedging Instrument
Derivative [Line Items]
Derivative instrument, notional amount	$ 192.3	194.3
Interest rate swap agreements | Designated as Hedging Instrument
Derivative [Line Items]
Derivative, fixed interest rate	2.54%
Interest rate swap agreements | Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Settlement of cross-currency swap contract	$ (1.6)	(4.8)	(3.9)
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts	14.2	$ 4.4	$ (12.9)
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months, net	$ 4.4