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Stock-Based Compensation - RSUs to be Settled in Cash (Details) - Restricted Stock Units to be Settled in Cash - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of common stock shares that may be received by RSU holder (in shares) 1    
Compensation expense related to RSUs to be settled in cash $ 5.9 $ 5.0 $ 8.1
Payments to settle liabilities under compensation plan 5.4 5.9 $ 8.6
Accrued liabilities under compensation plan $ 4.3 $ 3.4