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Employee Benefit Plans - 401K Contribution and Supplemental Compensation agreement (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Employee Benefit Plans      
Base contribution as a percentage of employee gross pay (as a percent) 2.00%    
Employer maximum match of an employee's contributions of first 4% of eligible compensation (as a percent) 100.00%    
Percentage of eligible compensation, matched 100% by employer 4.00%    
Company's matching contributions under certain 401(k) savings plans $ 6.7 $ 6.8 $ 6.1
Foreign pension plans      
Employee Benefit Plans      
Charges for pension plans $ 3.4 $ 3.6 $ 3.9