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Leases (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Lessee, Lease, Description [Line Items]    
Operating lease assets $ 125,400,000 $ 110,200,000
Finance lease assets 11,600,000 12,700,000
Total leased assets 137,000,000.0 122,900,000
Current operating lease liabilities 34,700,000 34,900,000
Current portion of debt, finance lease obligations and notes payable 1,500,000 1,300,000
Long-term operating lease liabilities 92,300,000 77,900,000
Finance lease obligations 14,700,000 14,800,000
Total lease liabilities 143,200,000 128,900,000
Accumulated amortization 9,500,000 7,800,000
Operating expenses and cost of sales 45,400,000 42,500,000
Operating expenses and cost of sales 1,500,000 1,500,000
Interest expense 900,000 900,000
Other (income) expense, net (2,600,000) (2,400,000)
Total lease cost 45,200,000 $ 42,500,000
2020 38,100,000  
2021 29,500,000  
2022 23,300,000  
2023 16,200,000  
2024 11,900,000  
Thereafter 16,200,000  
Total lease payments 135,200,000  
Less: interest 8,200,000  
Present value of lease payments 127,000,000.0  
2020 2,300,000  
2021 2,300,000  
2022 2,300,000  
2023 2,300,000  
2024 2,300,000  
Thereafter 8,600,000  
Total lease payments 20,100,000  
Less: interest 3,900,000  
Present value of lease payments 16,200,000  
2020 40,400,000  
2021 31,800,000  
2022 25,600,000  
2023 18,500,000  
2024 14,200,000  
Thereafter 24,800,000  
Total lease payments 155,300,000  
Option to extend $ 14,700,000  
Operating leases 4 years 10 months 17 days 4 years 5 months 19 days
Finance leases 8 years 6 months 7 days 9 years 5 months 23 days
Operating leases 2.71% 3.29%
Finance leases 5.20% 5.18%
Operating cash flows from operating leases $ 45,300,000 $ 42,700,000
Operating cash flows from finance leases 800,000 900,000
Financing cash flows from finance leases 1,400,000 1,300,000
Leased assets obtained in exchange for new operating lease liabilities $ 47,700,000 $ 28,800,000
Minimum    
Lessee, Lease, Description [Line Items]    
Renewal term 1 year  
Maximum    
Lessee, Lease, Description [Line Items]    
Renewal term 20 years