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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
3 Months Ended 12 Months Ended
Feb. 10, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Equity, Class of Treasury Stock [Line Items]                                
Defined benefit pension plan settlement charges   $ 109.8                       $ 109.8    
Cash dividends paid                           $ 380.5 $ 369.9 $ 340.8
Common stock dividends (USD per share)   $ 0.235 $ 0.235 $ 0.235 $ 0.235 $ 0.225 $ 0.225 $ 0.225 $ 0.225 $ 0.20 $ 0.20 $ 0.20 $ 0.20 $ 0.94 $ 0.90 $ 0.80
Stock repurchased and retired, publicly announced authorizations (shares)                           19.5 8.5 26.9
Stock repurchased and retired, publicly announced authorizations, value excluding commissions                           $ 400.0 $ 217.4 $ 540.0
Stock repurchased and retired, publicly announced authorizations, average cost per share excluding commissions (USD per share)                           $ 20.56 $ 25.45 $ 20.07
Stock repurchase program expiration date                           Dec. 31, 2021    
Subsequent Event                                
Equity, Class of Treasury Stock [Line Items]                                
Common stock dividends (USD per share) $ 0.235                              
Dividends payable, date declared Feb. 10, 2022                              
Dividends payable, date to be paid Mar. 31, 2022                              
Authorized through December 31, 2024 | Subsequent Event                                
Equity, Class of Treasury Stock [Line Items]                                
Stock repurchases authorized amount $ 1,000.0