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Incentive Compensation Plans Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock-based Payment Award      
Intrinsic value of stock options exercised $ 9.1 $ 27.9 $ 15.1
Proceeds from stock options exercised including taxes withheld 8.3 29.0 20.0
Tax withheld on stock options received $ 4.0 $ 13.3 $ 6.8
Employee Stock Option      
Stock-based Payment Award      
Stock options outstanding as of January 1, 2018 1.8    
Stock options outstanding as of Jan 1, 2018, Weighted-average exercise price $ 10.66    
Exercised (0.6) (1.9) (1.1)
Exercised, weighted-average exercise price $ 7.38    
Stock options outstanding as of December 31, 2018 1.2 1.8  
Stock options outstanding as of Dec 31, 2018, Weighted-average exercise price $ 12.26 $ 10.66  
Options outstanding, weighted average remaining contractual term 2 years 8 months 12 days    
Stock options outstanding, aggregate intrinsic value $ 12.9