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401(k) Profit Sharing, Deferred Compensation and Long-term Incentive Plans - Compensation Expense (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Postemployment Benefits [Abstract] |  |  |
Compensation expense | $ 1.2 | $ 0.9 | $ 1.3
Total discretionary contribution | $ 0.9 | $ 0.3 | $ 0.8
Guaranteed annual return (in percent) | 5.00% | 5.00% | 5.00%

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