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Preferred and Common Stockholders' Equity - Potentially Dilutive Common Shares Excluded from EPS Computation (Details) - shares
shares in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Equity [Abstract]        
Anti-dilutive options and RSUs excluded from EPS computation 0.1 7.3 4.9 7.3