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Stock-Based Incentive Plans Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding, beginning (in shares) 1,439,708 1,272,048 701,134
Granted (in shares) 132,832 248,899 887,030
Exercised (in shares) 211,352 74,930 64,916
Forfeited (in shares) 106,745 6,309 171,847
Expired (in shares) 37,005   79,353
Outstanding, ending (in shares) 1,217,438 1,439,708 1,272,048
Vested and expected to vest (in shares) 1,146,329    
Exercisable (in shares) 561,872    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Weighted average share price, beginning (in dollars per share) $ 63.21 $ 61.44 $ 80.04
Weighted average share price, granted (in dollars per share) 98.97 69.12 48.35
Weighted average share price, exercised (in dollars per share) 57.36 52.43 40.59
Weighted average share price, forfeited (in dollars per share) 72.19 68.80 65.82
Weighted average share price, expired (in dollars per share) 93.06   87.02
Weighted average share price, ending (in dollars per share) 66.43 $ 63.21 $ 61.44
Vested and expected to vest, weighted average exercise price (in dollars per share) 67.06    
Exercisable, weighted average exercise price (in dollars per share) $ 77.80    
Options, outstanding, weighted average remaining contractual term 5 years 8 months 12 days    
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term 5 years 7 months 6 days    
Excercisable weighted average remaining contractual term 3 years 1 month 6 days    
Options, outstanding, intrinsic value $ 24.1    
Options, vested and expected to vest, outstanding, aggregate intrinsic value 22.0    
Options, exercisable, intrinsic value $ 5.9