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Income Taxes - Effective Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Reconciliation between the U.S. corporate income tax rate and the effective income tax rate from continuing operations      
U.S. corporate income tax rate (as a percent) 21.00% 21.00% 21.00%
Dividends received deduction (as a percent) (4.00%) (5.00%) (4.00%)
Tax credits (as a percent) (3.00%) (3.00%) (3.00%)
Impact of equity method presentation (as a percent) (1.00%) (2.00%) (1.00%)
Interest exclusion from taxable income (as a percent) (1.00%)   (1.00%)
Impact of the Tax Cuts and Jobs Act (as a percent)     (3.00%)
State income taxes (as a percent) 1.00% 1.00% 1.00%
Local country permanent tax adjustments (as a percent)   1.00% 1.00%
Other income tax rate impacts (as a percent) 3.00% 2.00% 2.00%
Effective income tax rate (as a percent) 16.00% 15.00% 13.00%