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Commitments (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Finite-Lived Intangible Assets [Line Items] |  |  |
Weighted average remaining lease term | 5 years 3 months 18 days |  |
Operating lease, weighted average discount rate | 3.00% |  |
Operating lease of related to rental expenses | $ 6.2 | $ 7.5 | $ 7.0
Operating lease payments | 5.6 |  |
Noncash additions to operating lease assets | $ 1.1 |  |
License agreement, expiration description | The Company is party to a number of license and other agreements for the use of trademarks and rights in connection with the manufacture and sale of its products expiring at various dates through 2033. |  |
Royalty expense | $ 41.1 | $ 53.0 | $ 48.9
Royalty expense, percentage of net sales | 7.60% | 7.40% | 7.20%

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- Definition A description of the entity's intent or ability to renew or extend the arrangement related to an intangible asset and how that affects expected future cash flows. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 350 -SubTopic 30 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=66006027&loc=SL5742995-109275 + Details
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- Definition Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 842 -SubTopic 20 -Section 55 -Paragraph 53 -URI http://asc.fasb.org/extlink&oid=121568110&loc=SL77918982-209971 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 842 -SubTopic 20 -Section 50 -Paragraph 4 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=121609121&loc=SL77918686-209980 + Details
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