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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock Compensation Plans      
Number of shares issued 264,503 258,453 239,590
Stock compensation expense $ 183.0 $ 177.9 $ 166.6
Remaining shares available 10,113,298 5,515,182  
Employee Stock [Member]      
Stock Compensation Plans      
Employment period for eligibility to participate in the plan 1 month    
Number of shares issued 264,503 258,453 239,590
Stock compensation expense $ 4.6 $ 4.6 $ 3.4
Remaining shares available 680,975    
Employee Stock [Member] | Minimum      
Stock Compensation Plans      
Number of employee working hours per week for eligibility to participate in the plan 20 hours