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Debt - Commercial Paper (Details) - USD ($)
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Debt Instrument [Line Items]      
Average outstanding commercial paper     $ 49,000,000
Long-term interest rate     2.50%
Commercial Paper      
Debt Instrument [Line Items]      
Aggregate outstanding principal amount $ 0 $ 0