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Stock-based Compensation and Other Employee Benefit Plans (Tables) | 12 Months Ended
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Dec. 31, 2020
Share-based Payment Arrangement [Abstract] |
Share-based Payment Arrangement, Expensed and Capitalized, Amount | Total stock-based compensation expense for the years ended December 31, 2020, 2019 and 2018 was as follows:
|  | 2020 |  | 2019 |  | 2018
Stock-based compensation included in SG&A expenses |  | $ | 32.3 |  |  | $ | 39.3 |  |  | $ | 31.5 |
Excess tax benefits recognized from stock-based compensation |  | $ | 1.6 |  |  | $ | 1.1 |  |  | $ | 2.7 |
Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] | A summary of the status of the Company’s unvested RSUs as of December 31, 2020 and changes during the year then ended are presented below (number of units in millions, except fair value per unit):
|  | Service Conditions |  | Performance/Market and Service Conditions |  | Total |  | Weighted-Average Grant-Date Fair Value Per Unit
Unvested RSUs outstanding at December 31, 2019 |  | 0.5 |  |  | 0.7 |  |  | 1.2 |  |  |  | $ | 63.21 |  |
Granted |  | 0.2 |  |  | 0.3 |  |  | 0.5 |  |  |  | $ | 61.23 |  |
Vested |  | (0.1) |  |  | (0.4) |  |  | (0.5) |  |  |  | $ | 59.51 |  |
Unvested RSUs outstanding at December 31, 2020 |  | 0.6 |  |  | 0.6 |  |  | 1.2 |  |  |  | $ | 63.66 |  |
Unvested and expected to vest RSUs outstanding at December 31, 2020 |  | 0.5 |  |  | 0.6 |  |  | 1.1 |  |  |  | $ | 63.51 |  |
Fair Value Measurement Inputs and Valuation Techniques | The fair value for the TSR Awards was $49.11 per share, which was determined on the grant date using a Monte Carlo simulation model based on the following assumptions:
Expected term (years) |  | 3.0
Dividend yield |  | — |
Volatility factor |  | 38.8 | %
Risk-free interest rate |  | 0.3 | %
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions | The fair values of the options granted under the ESPP were estimated using the Black-Scholes valuation model at the date of grant based on the following assumptions during the years ended December 31, 2020, 2019 and 2018:
|  | 2020 |  | 2019 |  | 2018
Expected term (years) |  | 0.5 |  | 0.5 |  | 0.5
Dividend yield |  | — |  |  | — |  |  | — |
Expected volatility |  | 32.0 - 63.3% |  | 25.0 - 38.5% |  | 23.0 - 30.3%
Weighted-average risk-free interest rate |  | 0.1 - 1.8% |  | 2.1 - 2.4% |  | 1.2 - 1.9%
Average Black-Scholes valuation per share |  | $ | 12.53 |  |  | $ | 17.11 |  |  | $ | 15.09 |
Shares issued (millions) |  | 0.4 |  |  | 0.2 |  |  | 0.2 |
Stock-based compensation expense (millions) |  | $ | 4.0 |  |  | $ | 4.1 |  |  | $ | 2.7 |

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- Definition Tabular disclosure of input and valuation technique used to measure fair value and change in valuation approach and technique for each separate class of asset and liability measured on recurring and nonrecurring basis. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 820 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (bbb) -URI http://asc.fasb.org/extlink&oid=117815213&loc=d3e19207-110258 + Details
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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + 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 (h)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5047-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + 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) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + 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 (f)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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