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Stock-Based Compensation - Stock Option Activity (Details)
shares in Millions
 9 Months Ended
Sep. 30, 2021
$ / shares
shares
Options, Number of shares  
Options outstanding, beginning (shares) | shares 5.2
Options granted (shares) | shares 0.0
Options exercised (shares) | shares (3.6)
Options canceled or expired (shares) | shares (0.1)
Options outstanding, ending (shares) | shares 1.5
Options exercisable at end of period (shares) | shares 1.1
Options, Weighted average exercise price  
Options outstanding, beginning (dollars per share) | $ / shares $ 23.24
Options granted (dollars per share) | $ / shares 0
Options exercised (dollars per share) | $ / shares 24.26
Options canceled or expired (dollars per share) | $ / shares 25.03
Options outstanding, ending (dollars per share) | $ / shares 20.57
Options exercisable at end of period (dollars per share) | $ / shares $ 23.20