Share-based Incentive Compensation Plans - Awards Outstanding (Details) shares in Millions	9 Months Ended
Sep. 30, 2021 $ / shares shares
RSU awards
Number of Awards
Outstanding, beginning balance (in shares) \| shares	1.5
Granted (in shares) \| shares	0.8
Vested (in shares) \| shares	(0.8)
Forfeited (in shares) \| shares	(0.1)
Outstanding, ending balance (in shares) \| shares	1.4
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Outstanding, beginning balance (usd per share) \| $ / shares	$ 55.86
Granted (usd per share) \| $ / shares	56.79
Vested (usd per share) \| $ / shares	52.83
Forfeited (usd per share) \| $ / shares	58.25
Outstanding, ending balance (usd per share) \| $ / shares	$ 57.48
PSU awards
Number of Awards
Outstanding, beginning balance (in shares) \| shares	2.0
Adjustment for PSU performance factor (in shares) \| shares	0.3
Granted (in shares) \| shares	0.8
Vested (in shares) \| shares	(1.0)
Forfeited (in shares) \| shares	(0.1)
Outstanding, ending balance (in shares) \| shares	2.0
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Outstanding, beginning balance (usd per share) \| $ / shares	$ 55.48
Adjustment for PSU performance factor (usd per share) \| $ / shares	53.22
Granted (usd per share) \| $ / shares	49.88
Vested (usd per share) \| $ / shares	53.30
Forfeited (usd per share) \| $ / shares	55.78
Outstanding, ending balance (usd per share) \| $ / shares	$ 54.06
Stock options
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning balance (in shares) \| shares	2.6
Granted (in shares) \| shares	0.0
Exercised (in shares) \| shares	(0.4)
Forfeited (in shares) \| shares	(0.2)
Outstanding, ending balance (in shares) \| shares	2.0
Vested, exercisable (in shares) \| shares	2.0
Share-based Compensation Arrangement by Share-based Payment Award, Options, Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance (usd per share) \| $ / shares	$ 42.29
Granted (usd per share) \| $ / shares	0
Exercised (usd per share) \| $ / shares	39.53
Forfeited (usd per share) \| $ / shares	42.06
Outstanding, ending balance (usd per share) \| $ / shares	42.84
Vested, exercisable, weighted average exercise price (usd per share) \| $ / shares	$ 42.84

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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Share Based Compensation Arrangements by Share-based Payment Award Adjustment For Performance Share Units

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Share-based Compensation Arrangement by Share-based Payment Award Adjustment For Performance Share Units Weighted Average Grant Date Fair Value

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