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Summary of Significant Accounting Policies - Debt Issuance Costs (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]    
Unamortized debt issuance costs $ 10.7 $ 5.7
Other Assets    
Debt Instrument [Line Items]    
Unamortized debt issuance costs $ 1.9 $ 2.1