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Incentive Compensation Plans Schedule of Stock Options Activity (Tables)
12 Months Ended
Dec. 31, 2020
Summary of Stock Options Assumptions [Abstract]  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
The following table summarizes our stock option activity during 2020.
OptionsWeighted-
Average
Exercise Price
(per option)
Weighted-
Average
Remaining
Contractual Term
(in years)
Aggregate
Intrinsic
Value
Stock options outstanding as of January 1, 20201.2 $12.26 
Exercised(0.6)$11.70 
Stock options outstanding as of December 31, 20200.6 $12.75 2.2$6.8