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Stock-Based Compensation - RSUs to be Settled in Cash (Details) - Restricted Stock Units to be Settled in Cash - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period 3 years    
Number of common stock shares that may be received by RSU holder (in shares) 1    
Compensation expense related to RSUs to be settled in cash $ 9.4 $ 5.9 $ 5.0
Payments to settle liabilities under compensation plan 4.3 5.4 $ 5.9
Accrued liabilities under compensation plan $ 8.7 $ 4.3