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Stock-based Compensation and Other Employee Benefit Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
A summary of the status of the Company’s unvested RSUs as of December 31, 2019 and changes during the year then ended are presented below (number of units in millions, except fair value per unit):
 
 
 
Service Conditions
RSUs
 
Performance and Service Conditions
RSUs
 
Total
RSUs
 
Weighted Average Grant-Date Fair Value Per Unit
Unvested RSUs outstanding at December 31, 2018
 
0.4

 
0.9

 
1.3

 
 
$
60.87

 
Granted
 
0.2

 
0.4

 
0.6

 
 
$
62.26

 
Vested
 
(0.1
)
 
(0.5
)
 
(0.6
)
 
 
$
56.58

 
Forfeited
 
—

 
(0.1
)
 
(0.1
)
 
 
$
67.58

 
Unvested RSUs outstanding at December 31, 2019
 
0.5

 
0.7

 
1.2

 
 
$
63.21

 
Unvested and expected to vest RSUs outstanding at December 31, 2019
 
0.4

 
0.7

 
1.1

 
 
$
62.96

 
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] The table below presents the average Black-Scholes valuation per share of shares purchased and the compensation expense under the ESPP (in millions, except per share amounts):
Year Ended
December 31,
 
Average Black-Scholes Valuation per Share
 
Shares
 
Expense
2019
 
$17.11
 
0.2
 
$
4.1

2018
 
$15.09
 
0.2
 
$
2.7

2017
 
$9.71
 
0.2
 
$
2.1