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Leases - Lease Cost (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Leases [Abstract]      
Operating lease cost $ 4,100,000 $ 4,800,000 $ 5,100,000
Operating cash flows from operating leases $ 4,100,000 $ 4,800,000 $ 5,100,000