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Income Taxes (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Income Tax Disclosure [Abstract]        
Income tax penalties and interest accrued $ 0 $ 0 $ 0 $ 0
Effective income tax rate from continuing operations (percent) 13.20% 17.00% 29.60% 18.90%