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Earnings per Share (Details) - shares
shares in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Earnings Per Share [Abstract]        
Basic weighted-average shares outstanding (in shares) 139.8 142.4 140.6 142.5
Effect of dilutive securities (in shares) 1.9 1.9 1.8 2.1
Diluted weighted-average shares outstanding (in shares) 141.7 144.3 142.4 144.6
Anti-dilutive shares (fewer than) (in shares) 0.1 0.1 0.1 0.1