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Employee Benefit Plans - Employee Stock Purchase Plan and Valuation Assumptions (Details) - $ / shares
shares in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Employee Stock Purchase Plan      
Estimates of Fair Value      
Volatility 27.00% 29.00% 25.00%
Risk-free interest rate 2.10% 1.90% 0.90%
Expected life (years) 1 year 2 months 12 days 1 year 2 months 12 days 6 months
Dividend yield 2.90% 2.70% 1.50%
Weighted-average fair value per share (in dollars per share) $ 6.65 $ 6.93 $ 6.04
Market-based RSUs      
Estimates of Fair Value      
Volatility 25.00% 28.00% 30.00%
Risk-free interest rate 2.40% 2.40% 1.90%
Dividend yield 2.80% 2.60% 1.40%
Weighted-average fair value per share (in dollars per share) $ 27.32 $ 28.39 $ 19.30
Employee Stock Purchase Plan 2008      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common shares purchased through ESPP (in shares) 2.4 2.5 2.7
Average exercise price of shares purchased through ESPP (in dollars per share) $ 22.04 $ 22.31 $ 20.83