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Employee Benefit Plans - Defined Contribution Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Contribution Plan      
Defined contribution expense $ 13.4 $ 11.7 $ 10.5
European And Japanese Defined Contribution Plans      
Defined Contribution Plan      
Defined contribution expense $ 1.7 $ 1.6 $ 1.4