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Goodwill and Intangible Assets - Components of Intangible Assets (Parenthetical) (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Customer Relationships      
Finite Lived Intangible Assets [Line Items]      
Adjustment to decrease the remaining book value of intangible asset $ 4.5 $ 4.5 $ 0.7