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Derivatives - Forward Notional Contracts (Details) - Foreign currency forward contracts
$ in Millions
Sep. 30, 2023
USD ($)
DerivativeInstrument
Dec. 31, 2022
USD ($)
Designated as hedging instrument | Derivatives designated as cash flow hedges    
Derivative [Line Items]    
Average number of contracts entered into per month | DerivativeInstrument 100  
Aggregate notional amount of derivative | $ $ 155.7 $ 87.8
Not designated as hedging instrument | Fair Value Hedging    
Derivative [Line Items]    
Average number of contracts entered into per month | DerivativeInstrument 50  
Aggregate notional amount of derivative | $ $ 96.0 $ 92.4