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Incentive Compensation Plans Schedule of Nonvested Stock Activity (Tables)
12 Months Ended
Dec. 31, 2022
Summary of Stock Options Assumptions [Abstract]  
Schedule of Nonvested Share Activity [Table Text Block] A summary of the activity of our non-vested stock-settled awards, cash-settled awards and performance-based awards during 2022 is presented below (performance-based awards are shown at 100% of the shares originally granted).
 Stock-Settled AwardsCash-Settled AwardsPerformance-Based Awards
 AwardsWeighted-
Average
Grant-Date
Fair Value
(per award)
AwardsWeighted-
Average
Grant-Date
Fair Value
(per award)
AwardsWeighted-
Average
Grant-Date
Fair Value
(per award)
Non-vested as of January 1, 20224.1 $22.82 0.1 $21.78 3.3 $19.18 
Granted1.3 36.36 0.0 36.53 1.6 29.95 
Vested(1.7)23.25 (0.1)22.83 (1.5)20.16 
Forfeited(0.2)24.78 0.0 23.46 (0.5)20.91 
Non-vested as of December 31, 20223.5 $27.52 0.0 $27.96 2.9 $24.31 
Total unrecognized compensation expense remaining$39.3 $0.6 $31.7 
Weighted-average years expected to be recognized over1.00.92.0