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Stock Repurchases (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2021
Jun. 30, 2020
Jul. 31, 2018
Equity [Abstract]          
Number of shares authorized to be repurchased (in shares)         2,000,000
Shares repurchased (in shares) 50,201   0 283,450  
Shares repurchased, value $ 0.9 $ 3.9   $ 4.8