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Goodwill and Intangible Assets - Amortization Expense (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]      
Amortization expense $ 62.7 $ 61.9 $ 62.6
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]      
2022 62.1    
2023 61.8    
2024 60.9    
2025 60.5    
2026 $ 60.4