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Commitments and Contingencies - Deferred Compensation Plans (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]          
Contributions by employer $ 200,000 $ 200,000 $ 1,000,000.0 $ 900,000  
Deferred compensation liability, noncurrent 51,400,000   51,400,000   $ 47,300,000
Life insurance $ 52,200,000   52,200,000   $ 45,800,000
Employer discretionary contribution amount     $ 0 $ 0