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Share Based Compensation - Weighted Average and Assumptions (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]        
Share-based compensation expense $ 3.9 $ 3.7 $ 9.4 $ 5.9
Tax benefit from share-based compensation expense $ 1.0 $ 0.9 $ 2.4 $ 1.5
Weighted average estimated fair value $ 29.56   $ 29.56  
Quarterly dividend rate     $ 0.50  
Expected term of stock options and stock appreciation rights, in years     4 years 3 months 18 days  
Risk-free interest rate     0.30%  
Dividend yield     2.20%  
Expected stock price volatility     34.40%  
Present value of dividends     $ 8.61