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Stock-based Compensation - Options Outstanding (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Additional disclosures      
Compensation expense recognized $ 7.1 $ 3.8 $ 3.5
Period over which cost will be recognized 3 years    
Stock option awards      
Additional disclosures      
Compensation expense recognized   $ 0.1 $ 0.2