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Intangible Assets - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Finite-Lived Intangible Assets [Line Items]        
Amortization expense $ 31.9 $ 30.9 $ 94.4 $ 92.7
Minimum        
Finite-Lived Intangible Assets [Line Items]        
Estimated useful life of intangible assets     10 years  
Maximum        
Finite-Lived Intangible Assets [Line Items]        
Estimated useful life of intangible assets     20 years  
Weighted average        
Finite-Lived Intangible Assets [Line Items]        
Estimated useful life of intangible assets     14 years 10 months 24 days