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Benefit Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Retirement Benefits [Abstract]      
Defined Benefit Plan, Plan Assets, Contributions by Employer $ 7.8 $ 7.2 $ 6.9
Share-based compensation 1.6 0.9 $ 0.5
Stock Appreciation Rights (SARs)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Deferred Compensation Liability, Current and Noncurrent $ 1.5 $ 0.9