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Fair Value Measurements - Nonrecurring Fair Value Measurements (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Assets and liabilities measured at estimated fair value on a recurring basis |  |  |  |
Asset impairments | $ 4.7 | $ 18.6 |  | $ 18.6
Nonrecurring Fair Value Measurements |  |  |  |
Assets and liabilities measured at estimated fair value on a recurring basis |  |  |  |
Asset impairments |  |  | $ 4.7 |

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