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Derivatives and Hedging - Forward Currency Forward Contracts (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
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 $ 1.5    
Forward points amortized on derivatives (1.0)    
Designated as Hedging Instrument | Cash Flow Hedging      
Derivative [Line Items]      
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts 1.5 $ 8.1  
Gains (losses) reclassified from AOCI into earnings 2.2 (0.8)  
Foreign currency forward contracts | Designated as Hedging Instrument      
Derivative [Line Items]      
Derivative, notional amount 107.5   $ 100.0
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 2.4 1.0  
Gains (losses) reclassified from AOCI into earnings 1.3 $ 0.4  
Interest rate cash flow hedge gain to be reclassified during next 12 months, net $ 1.3