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Stock-Based Compensation - Schedule of Compensation Expense Related to Performance Share Units (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Performance Share Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation expense $ (0.4) $ 1.0 $ (3.5) $ 1.8