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Earnings Per Share (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Earnings Per Share [Abstract]      
Basic (in shares) 142.6 145.1 150.9
Effect of diluted securities 2.2 2.7 2.7
Diluted weighted-average shares outstanding 144.8 147.8 153.6
Antidilutive securities excluded from computation of earnings per share (less than) 0.1 0.1 0.1