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Summary of Significant Accounting Policies - Expected Annual Amortization Expense (Details)
$ in Millions
Dec. 31, 2020
USD ($)
Finite Lived Intangible Assets Future Amortization Expense [Abstract]  
2021 $ 65.3
2022 64.4
2023 62.9
2024 47.4
2025 $ 19.8