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Stock Plans - Additional Information (Details) - USD ($)
shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants 3 years    
Historical volatility 26.44%    
Dividend yield 0.00%    
Risk-free interest rate 1.42%    
Historical volatility 2 years 10 months 17 days    
Unrecognized compensation cost expected to be recognized over the period 4 years    
Total fair value of shares vested $ 46.2 $ 57.0 $ 40.6
Total number of available shares to grant (in shares) 4.3    
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 75.00%    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 125.00%    
Restricted stock and stock units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Total unrecognized compensation cost, net of estimated forfeitures $ 73.9 $ 71.6 $ 65.6
Restricted stock and stock units | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants 3 years    
Restricted stock and stock units | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period for grants 4 years    
ROIC Award | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 0.00%    
ROIC Award | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Actual shares earned, possible percentage on target award 150.00%