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Defined Contribution Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Contribution Plan Disclosure [Line Items]      
Employer matching contribution, percentage of employees' pay 4.00%    
Contributions paid $ 23.4 $ 19.8 $ 22.2
Minimum [Member]      
Defined Contribution Plan Disclosure [Line Items]      
Percentage Contributed for Additional Performance Target 2.00% 1.60% 2.00%
Maximum [Member]      
Defined Contribution Plan Disclosure [Line Items]      
Percentage Contributed for Additional Performance Target 4.00% 3.10% 4.00%