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Fair Value of Financial Instruments - Senior Notes - Narrative (Details) - 4.50% Senior Notes - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Fair Value Disclosure of Liabilities Not Measured at Fair Value [Line Items]    
Senior notes, gross carrying amount $ 600.0 $ 600.0
Senior Notes    
Fair Value Disclosure of Liabilities Not Measured at Fair Value [Line Items]    
Debt instrument, interest rate (percentage) 4.50% 4.50%
Senior notes, estimated fair value $ 624.0 $ 625.5