Share-based Incentive Compensation Plans - Awards Outstanding under Stock Option Plans by Award Type (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, aggregate intrinsic value	$ 5.0	$ 13.0	$ 5.0
Restricted Share Units (RSUs)
Number of Awards
Outstanding, beginning balance	1.4
Adjusted for PSU performance factor	0.0
Granted	0.8
Vested	(0.7)
Forfeited	0.0
Outstanding, ending balance	1.5	1.4
Awards expected to vest	1.5
Weighted Average Grant Date Fair Value (usd per award)
Outstanding, beginning balance	$ 57.53
Adjusted for PSU performance factor	0
Granted	65.33	$ 56.88	$ 62.74
Vested	56.69
Forfeited	61.01
Outstanding, ending balance	60.91	$ 57.53
Awards expected to vest	$ 60.91
PSU awards
Number of Awards
Outstanding, beginning balance	2.0
Adjusted for PSU performance factor	0.2
Granted	0.9
Vested	(0.9)
Forfeited	(0.1)
Outstanding, ending balance	2.1	2.0
Awards expected to vest	2.1
Weighted Average Grant Date Fair Value (usd per award)
Outstanding, beginning balance	$ 54.05
Adjusted for PSU performance factor	59.13
Granted	56.67	$ 49.88	$ 61.86
Vested	50.35
Forfeited	54.55
Outstanding, ending balance	55.68	$ 54.05
Awards expected to vest	$ 55.68
Stock options
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning balance	1.8
Granted	0.0
Exercised	(0.2)
Forfeited	0.0
Outstanding, ending balance	1.6	1.8
Vested, exercisable	1.6
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance	$ 42.91
Granted	0
Exercised	41.29
Forfeited	50.03
Outstanding, ending balance	43.05	$ 42.91
Vested exercisable, weighted average exercise price	$ 43.05
Outstanding,weighted average remaining contractual term (years)	4 years 4 months 24 days	6 years 2 months 12 days
Vested, exercisable, weighted average remaining contractual term (years)	4 years 4 months 24 days
Outstanding, aggregate intrinsic value	$ 30.2	$ 43.1
Vested, aggregate intrinsic value	$ 30.2

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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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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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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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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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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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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Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Expected to Vest, Outstanding, Number

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Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Expected to Vest, Outstanding, Weighted Average Exercise Price

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