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Consolidated Balance Sheets (Parenthetical) - $ / shares
Jun. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Preferred stock, shares authorized (in shares) 10,000,000 10,000,000
Preferred stock, shares issued (in shares) 200,000 200,000
Liquidation preference (in dollars per share) $ 1,000 $ 1,000
Common stock, par value (in dollars per share) $ 2.50 $ 2.50
Common stock, shares authorized (in shares) 600,000,000.0 600,000,000.0
Common stock, shares issued (in shares) 223,800,000 223,200,000
Treasury stock, shares (in shares) 60,800,000 60,800,000