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Stock-based Compensation - Schedule of Restricted Stock Awards and Restricted Stock Units (Details) - Restricted Stock and Restricted Stock Units
shares in Millions
6 Months Ended
Jun. 30, 2021
$ / shares
shares
Awards/Units (millions)  
Beginning Balance (in shares) | shares 1.0
Granted (in shares) | shares 0.6
Vested (in shares) | shares (0.4)
Forfeited (in shares) | shares (0.1)
Ending Balance (in shares) | shares 1.1
Weighted- Average Exercise Price  
Beginning Balance (in usd per share) | $ / shares $ 28.84
Granted (in usd per share) | $ / shares 28.75
Vested (in usd per share) | $ / shares 29.06
Forfeited (in usd per share) | $ / shares 29.05
Ending Balance (in usd per share) | $ / shares $ 28.69