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Consolidated Balance Sheets (Parenthetical) - $ / shares
shares in Millions
Dec. 31, 2020
Dec. 31, 2019
Stockholders' equity:    
Common stock, shares authorized (in shares) 500.0 500.0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares issued (in shares) 90.6 90.6
Treasury stock (in shares) 39.7 35.0