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Equity (Details) - shares
shares in Millions
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Summary of common stock      
Common stock, shares authorized 1,000.0 1,000.0 1,000.0
Common stock, shares issued 198.0 221.0 235.3
Common stock, shares outstanding 174.2 197.2 211.5