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Retirement Plans - Safe Harbor plan (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Employees' savings plan        
Matching contribution by the company (as a percent)     100.00%  
Expenses recognized under 401(K) plan $ 3.7 $ 3.5 $ 11.8 $ 7.8
Minimum        
Employees' savings plan        
Age of employees to be eligible to participate in the defined contribution plan     21 years  
Percentage of annual base compensation that participants may elect to contribute     1.00%  
Maximum        
Employees' savings plan        
Percentage of annual base compensation that participants may elect to contribute     50.00%  
Percentage of employees salary for which the company contributes a matching contribution     4.00%  
Discretionary matching contribution (as a percent)     2.00%