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Stock-Based Compensation Plans - Nonqualified Stock Options, Activity (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
2014 Stock Incentive Plan, Amended and Restated 2010 Stock Incentive Plan and Stock Incentive Plan      
Stock-Based Compensation Plans - Disclosures      
Option expiration period 10 years    
Vesting period 3 years    
Change in options outstanding      
Options granted (in shares) 1.4 1.2 0.8
Nonqualified Stock Options      
Change in options outstanding      
Options outstanding at beginning of period (in shares) 5.3    
Options granted (in shares) 1.4    
Options exercised (in shares) 0.1    
Options canceled (in shares) 0.1    
Options outstanding at end of period (in shares) 6.5 5.3  
Options vested or expected to vest at end of period (in shares) 6.5    
Options exercisable at end of period (in shares) 4.2    
Options outstanding at beginning of period, Weighted-average exercise price (in dollars per share) $ 48.42    
Options granted, Weighted-average exercise price (in dollars per share) 51.73    
Options exercised, Weighted-average exercise price (in dollars per share) 29.56    
Options canceled weighted-average exercise price (in dollars per share) 51.81    
Options outstanding at end of period, Weighted-average exercise price (in dollars per share) 49.52 $ 48.42  
Options vested or expected to vest at end of period, Weighted-average exercise price (in dollars per share) 49.52    
Options exercisable at end of period, Weighted-average exercise price (in dollars per share) $ 47.38    
Options outstanding at end of period, Intrinsic value $ 27.5    
Options vested or expected to vest at end of period, Intrinsic value 27.5    
Options exercisable at end of period, Intrinsic value 27.5    
Total intrinsic value of options exercised $ 3.4 $ 2.4 $ 18.7