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Debt - Schedule of Effective Interest Rates (Details)
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Debt Disclosure [Abstract]      
Including the impact of interest rate swaps 4.03% 4.64% 4.57%
Excluding the impact of interest rate swaps 3.26% 4.63% 4.36%