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Employee Stock-based Compensation Plans - Employee Purchases and Aggregate Cost (Details) - Employee Stock Puchase Program - USD ($) shares in Millions, $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Equity, Class of Treasury Stock [Line Items] |  |  |
Employee share purchases (in shares) | 0.6 | 0.5 | 0.6
Aggregate cost | $ 20 | $ 17 | $ 15

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