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Goodwill and Intangible Assets - Intangible Assets - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Goodwill And Intangible Assets Disclosure [Abstract]        
Intangible assets amortization expense $ 9.5 $ 9.7 $ 33.4 $ 28.9