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Stock-Based Compensation - Summary of Option Activity (Details) - Non-qualified stock options - $ / shares shares in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Number of Options |  |  |  |
Outstanding at the beginning of the period | 1.3 | 1.5 | 1.7 |
Options granted | 0.5 | 0.2 | 0.2 |
Options exercised | (0.2) | (0.4) | (0.4) |
Outstanding at the end of the period | 1.6 | 1.3 | 1.5 | 1.7
Weighted-Average Exercise Price |  |  |  |
Outstanding at the beginning of the period (in dollars per share) | $ 47.92 | $ 38.97 | $ 31.18 |
Options granted (in dollars per share) | 54.82 | 65.56 | 68.15 |
Options exercised (in dollars per share) | 32.18 | 25.95 | 16.06 |
Outstanding at the end of the period (in dollars per share) | $ 51.07 | $ 47.92 | $ 38.97 | $ 31.18
Remaining Contractual Life |  |  |  |
Remaining Contractual Life | 6 years 14 days | 5 years 7 months 6 days | 5 years 2 months 12 days | 5 years 2 months 8 days

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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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