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Stock-Based Compensation - RSU activity (Details) - Management Stock Purchase Plan - Restricted stock units (RSUs) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
RSU activity and related information |  |  |
Outstanding at beginning of period (in shares) | 95 | 110 | 154
Granted (in shares) | 25 | 28 | 37
Cancelled/Forfeitures (in shares) | (34) | (40) | (79)
Settled (in shares) | (1) | (3) | (2)
Outstanding at end of period (in shares) | 85 | 95 | 110
Vested at end of period (in shares) | 31 | 32 | 35
Weighted Average Purchase Price |  |  |
Outstanding at beginning of period (in dollars per share) | $ 64.54 | $ 57.91 | $ 45.02
Granted (in dollars per share) | 97.98 | 69.76 | 63.77
Cancelled/Forfeitures (in dollars per share) | 61.38 | 49.76 | 35.63
Settled (in dollars per share) | 77.03 | 65.69 | 56.25
Outstanding at end of period (in dollars per share) | 75.34 | 64.54 | 57.91
Vested at end of period (in dollars per share) | 65.29 | $ 61.89 | $ 52.67
Weighted Average Intrinsic Value |  |  |
Outstanding at end of period (in dollars per share) | 118.83 |  |
Vested at end of period (in dollars per share) | $ 128.88 |  |
Aggregate intrinsic value of outstanding awards | $ 10.1 |  |
Aggregate intrinsic value of awards vested | 4.0 |  |
Total intrinsic value of awards settled | $ 2.1 | $ 2.3 | $ 3.5

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