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Incentive Compensation Plans Stock-based Compensation, Grants in Period Weighted Average (Tables)
 12 Months Ended
Dec. 31, 2023
Summary of Stock Options Assumptions [Abstract]  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value [Table Text Block]
Stock-based compensation awards expected to be settled in cash have been classified as liabilities in our Consolidated Balance Sheets as of December 31, 2023 and 2022.
 Years ended December 31,
 202320222021
Stock-Settled Awards:
Awards granted1.4 1.3 0.9 
Weighted-average grant-date fair value (per award)$35.54 $36.36 $26.96 
Total fair value of vested awards distributed$60.8 $59.7 $50.8 
Cash-Settled Awards:
Awards granted0.0 0.0 0.0 
Weighted-average grant-date fair value (per award)$35.71 $36.53 $0.0 
Total fair value of vested awards distributed$0.8 $0.8 $0.7 
Performance-Based Awards:
Awards granted2.1 1.6 0.5 
Weighted-average grant-date fair value (per award)$26.31 $29.95 $21.98 
Total fair value of vested awards distributed$84.8 $54.5 $39.3