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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
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Equity, Class of Treasury Stock [Line Items]      
Employee share purchases (in shares) 0.7 0.6 0.5
Aggregate cost $ 14 $ 20 $ 17