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Stock-based Compensation - Share-based Award Expense Activity (Details) - Share-based Payment Arrangement, Option
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected lives of options (years) 9 years 6 months 9 years 6 months 9 years 1 month 6 days
Expected volatility 62.80% 29.90% 29.70%
Risk free interest rate 0.70% 1.70% 3.00%
Dividend yield rate 5.10% 3.40% 3.90%