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Derivatives and Hedging - Forward Currency Forward Contracts (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 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    
Forward points amortized on derivatives $ 0.6   $ 2.5    
Designated as Hedging Instrument | Cash Flow Hedging          
Derivative [Line Items]          
Net gain (loss) in accumulated other comprehensive loss related to foreign currency forward contracts 10.3 $ 5.5 27.3 $ 18.0  
Gains (losses) reclassified from AOCI into earnings 4.6 1.1 9.8 0.6  
Foreign currency forward contracts | Designated as Hedging Instrument          
Derivative [Line Items]          
Derivative, notional amount 31.7   31.7   $ 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 1.8 0.7 8.9 4.4  
Gains (losses) reclassified from AOCI into earnings 1.9 $ 1.3 4.3 $ 2.8  
Interest rate cash flow hedge gain to be reclassified during next 12 months, net $ 2.3   $ 2.3