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Stock Based Compensation Plans and Other Benefit Plans (Tables) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |
Summary of Option Activity | Stock option transactions for the year ended December 31, 2022 were as follows:
|  |  |  |  |  |  | Weighted |  |  |  |
|  |  |  | Weighted |  |  | Average |  |  |  |
|  |  |  | Average |  |  | Remaining |  |  | Aggregate |
|  |  |  | Exercise |  |  | Contractual |  |  | Intrinsic |
| Options |  |  | Price |  |  | Term |  |  | Value |
Outstanding as of December 31, 2021 |  | 11.3 |  |  | $ | 58.83 |  |  |  |  |  |  |
Granted |  | 1.6 |  |  |  | 85.14 |  |  |  |  |  |  |
Exercised |  | (0.7 | ) |  |  | 41.54 |  |  |  |  |  |  |
Cancelled |  | (0.3 | ) |  |  | 79.19 |  |  |  |  |  |  |
Outstanding as of December 31, 2022 |  | 11.9 |  |  | $ | 62.64 |  |  |  | 5.7 |  |  | $ | 227.4 |
Exercisable as of December 31, 2022 |  | 7.3 |  |  | $ | 50.90 |  |  |  | 4.0 |  |  | $ | 216.3 |
Summary of Information Relating to Options Outstanding and Exercisable |  | The following table summarizes information relating to options outstanding and exercisable as of December 31, 2022:
|  | Options Outstanding |  |  | Options Exercisable |
|  |  |  |  | Weighted |  |  | Weighted |  |  |  |  |  | Weighted |
|  | Outstanding |  |  | Average |  |  | Average |  |  | Exercisable |  |  | Average |
Range of |  | as of |  |  | Remaining |  |  | Exercise |  |  | as of |  |  | Exercise |
Exercise Prices |  | 12/31/2022 |  |  | Contractual Life |  |  | Price |  |  | 12/31/2022 |  |  | Price |
$30.01 - $40.00 |  |  | 1.2 |  |  |  | 1.3 |  |  | $ | 34.07 |  |  |  | 1.2 |  |  | $ | 34.07 |
$40.01 - $50.00 |  |  | 2.3 |  |  |  | 2.9 |  |  | $ | 43.90 |  |  |  | 2.3 |  |  | $ | 43.90 |
$50.01 - $60.00 |  |  | 2.5 |  |  |  | 5.0 |  |  | $ | 51.98 |  |  |  | 2.5 |  |  | $ | 51.98 |
$60.01 - $70.00 |  |  | 0.1 |  |  |  | 5.9 |  |  | $ | 65.27 |  |  |  | 0.1 |  |  | $ | 65.27 |
$70.01 - $80.00 |  |  | 2.9 |  |  |  | 7.0 |  |  | $ | 75.35 |  |  |  | 1.2 |  |  | $ | 77.26 |
$80.01 - $90.00 |  |  | 2.8 |  |  |  | 9.0 |  |  | $ | 84.74 |  |  |  | 0.0 |  |  | $ | 0.0 |
$90.01 - $100.00 |  |  | 0.1 |  |  |  | 8.3 |  |  | $ | 92.78 |  |  |  | 0.0 |  |  | $ | 0.0 |
|  |  | 11.9 |  |  |  | 5.7 |  |  | $ | 62.64 |  |  |  | 7.3 |  |  | $ | 50.90 |
Information Regarding Intrinsic Value of Stock Options Exercised and Stock Compensation Expense Related to Stock Option Awards | The following table provides information regarding the intrinsic value of stock options exercised and stock compensation expense related to stock option awards:
| 2022 |  |  | 2021 |  |  | 2020 |
Intrinsic Value of Stock Options Exercised | $ | 32.1 |  |  | $ | 157.3 |  |  | $ | 159.8 |
Stock Compensation Expense Related to Stock Option Awards | $ | 25.7 |  |  | $ | 23.3 |  |  | $ | 21.1 |
Issued Stock Options |  | 1.6 |  |  |  | 1.5 |  |  |  | 1.9 |
Weighted Average Fair Value of Stock Options issued (per share) | $ | 21.50 |  |  | $ | 17.32 |  |  | $ | 12.85 |
Fair Value of Stock Options Issued | $ | 33.6 |  |  | $ | 26.6 |  |  | $ | 24.5 |
Assumptions Used in Valuation of Issued Stock Options | The following table provides a summary of the assumptions used in the valuation of issued stock options:
| 2022 |  |  | 2021 |  |  | 2020 |
Risk-free interest rate |  | 2.9 | % |  |  | 1.3 | % |  |  | 0.5 | %
Expected life in years |  | 7.1 |  |  |  | 7.2 |  |  |  | 7.3 |
Expected volatility |  | 21.7 | % |  |  | 20.7 | % |  |  | 19.9 | %
Dividend yield |  | 1.2 | % |  |  | 1.2 | % |  |  | 1.3 | %

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