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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Millions
Dec. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 9.3 $ 9.6
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, authorized shares (in shares) 50,000,000.0 50,000,000.0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 1.00 $ 1.00
Common stock, shares authorized (in shares) 1,050,000,000 1,050,000,000
Common stock, shares issued (in shares) 642,000,000.0 636,400,000
Common stock, shares outstanding (in shares) 624,100,000 624,300,000
Treasury stock, shares (in shares) 17,900,000 12,100,000