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Accumulated Other Comprehensive Loss - Components of Accumulated Other Comprehensive Loss (Parenthetical) (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Accumulated Other Comprehensive Income Loss Net Of Tax [Abstract]    
Expects to reclassify net gains from accumulated other comprehensive loss into earnings $ 0.7  
Expects to reclassify net losses related to change in fair value of interest rate hedge agreement from accumulated other comprehensive loss into earnings $ 3.7  
Effective tax rate 26.70% 18.30%