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Goodwill and Intangible Assets - Estimated Aggregate Finite-Lived Intangible Asset Amortization Expense (Details)
$ in Millions
Dec. 31, 2019
USD ($)
Goodwill and Intangible Assets Disclosure [Abstract]  
2020 $ 12.5
2021 10.8
2022 8.1
2023 7.3
2024 $ 6.8