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Share-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]  
Summary of restricted stock unit activity
The following is a summary of RSU activity under the 2011 Plan for the year ended December 31, 2020 (in millions except per share data):
 Shares Weighted Average Grant Date Fair Value
Nonvested at beginning of year2.0 $18.59 
Granted1.2 17.96 
Vested(0.9)18.99 
Forfeited(0.2)18.07 
Nonvested at end of year2.1 18.08