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Goodwill and Intangible Assets - Intangible Asset Amortization (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]        
Amortization expense $ 15.7 $ 15.8 $ 47.2 $ 46.4
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]        
Remainder of fiscal year 63.0   63.0  
2022 63.0   63.0  
2023 62.0   62.0  
2024 61.0   61.0  
2025 61.0   61.0  
2026 $ 60.0   $ 60.0