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Share-Based Payments - Tax Benefit and Cash Received from Stock Option Exercises (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement [Abstract]      
Tax benefit realized for stock options $ 2.9 $ 2.5 $ 2.2
Cash received from the exercise of stock options $ 0.7 $ 0.4 $ 0.8