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Goodwill and Intangible Assets - Amortization on Intangible Assets (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]        
Amortization of intangible assets $ 11.6 $ 15.3 $ 40.6 $ 45.8