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Stock-Based Compensation - Stock Option Activity (Details) - $ / shares shares in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Option Shares
Outstanding at beginning of year (shares)	2.3	2.4	2.3
Granted (shares)	0.3	0.2	0.3
Exercised (shares)	(0.6)	(0.3)	(0.2)
Canceled or expired (shares)	0.0	0.0	0.0
Outstanding at end of year (shares)	2.0	2.3	2.4
Exercisable at end of year (shares)	1.5	1.9	1.8
Weighted Average Exercise Price
Outstanding at beginning of year (usd per share)	$ 13.87	$ 12.51	$ 11.08
Granted (usd per share)	27.82	27.29	23.14
Exercised (usd per share)	7.85	13.12	9.49
Canceled or expired (usd per share)	26.44	21.99	18.03
Outstanding at end of year (usd per share)	17.52	13.87	12.51
Exercisable at end of year (usd per share)	$ 14.37	$ 11.28	$ 10.59

X

- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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