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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |  |  |
Effective income tax rate | 25.50% | 25.60% | 25.80% | 26.40% |
U.S. corporate tax rate | 21.00% |  | 21.00% |  |
Deferred tax assets, valuation allowance | $ 32.0 |  | $ 32.0 |  |
Liability for income taxes associated with uncertain tax positions | 17.6 |  | 17.6 |  | $ 16.4
Decrease in uncertain tax positions during the next twelve months | $ 0.2 |  | $ 0.2 |  |

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