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Incentive Compensation Plans Stock-based Compensation Awards (Details)
shares in Millions
9 Months Ended
Sep. 30, 2021
$ / shares
shares
Restricted stock (units)  
Incentive Compensation Plans  
Granted awards 0.9
Weighted average grant date fair value | $ / shares $ 26.67
Performance-based stock (shares)  
Incentive Compensation Plans  
Granted awards 0.5
Exercise of stock options, value 0.3
Weighted average grant date fair value | $ / shares $ 21.98
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value | $ / shares $ 3.94
Total stock-based compensation awards  
Incentive Compensation Plans  
Granted awards 1.7