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Property, Equipment and Capitalized Software - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Property, Plant and Equipment [Abstract]      
Depreciation expense $ 37.4 $ 44.7 $ 48.4
Capitalized software development costs 37.0 32.5 24.4
Amortization expense on capitalized software development costs $ 29.3 $ 21.0 $ 20.4