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Goodwill and Intangible Assets - Intangible Assets - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Finite Lived Intangible Assets [Line Items]        
Intangible assets amortization expense   $ 42.9 $ 38.6 $ 40.5
2021   37.3    
2022   34.9    
2023   33.9    
2024   33.4    
2025   33.2    
Customer Relationships        
Finite Lived Intangible Assets [Line Items]        
Adjustment to decrease the remaining book value of intangible asset $ 4.5 $ 4.5 $ 0.7