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Benefit Plans - Incentive Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Incentive Plan for Key Executives | Salaries and employee benefits      
Incentive Plans      
Incentive plan expense $ 15.6 $ 14.3 $ 13.3