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Share-Based Compensation Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-Based Compensation Expense
Share-based compensation expense was as follows (in millions):
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$68.8 $54.9 $57.0 
Schedule of Share-Based Compensation, Stock Options, Activity
A summary of activity related to stock options is presented below (options in thousands):
 Number of
Options		Weighted-Average
Exercise
Price Per Share		Weighted-
Average
Remaining
Term in
Years		Aggregate
Intrinsic
Value
Options outstanding at December 31, 20211,248 $93.80 4.4$— 
Forfeited or expired(117)$102.86 
Options outstanding at December 31, 20221,131 $92.87 3.7$— 
Forfeited or expired(180)$100.85 
Options outstanding December 31, 2023951 $91.36 3.2$— 
Options exercisable951 $91.36 3.2$— 
Options expected to vest— $— 0.0$— 
Schedule of Nonvested RSUs
A summary of activity related to non-vested service-based restricted share units is presented below (units in thousands):
 Number of
Non-vested
Service-
Based
Share Units		Weighted-
Average
Grant Date
Fair Value Per Share		Weighted-
Average
Remaining
Term in
Years		Aggregate
Intrinsic
Value
Non-vested service-based share units outstanding at December 31, 20211,934 $45.52 0.8$75.2 
Granted1,305 $36.53 
Vested(1,070)$46.19 
Forfeited(128)$41.12 
Non-vested service-based share units outstanding at December 31, 20222,041 $39.69 0.9$69.6 
Granted1,452 $36.44 
Vested(1,120)$40.96 
Forfeited(132)$40.40 
Non-vested service-based share units outstanding at December 31, 20232,241 $36.92 0.9$72.1 
Schedule of Total Fair Value of RSUs
The total fair value of service-based restricted share units that vested was as follows (in millions):
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$45.9 $49.4 $47.2 
Schedule of Nonvested PSUs
A summary of activity related to non-vested performance-based restricted share units is presented below (units in thousands):
 Number of
Non-vested
Performance-
Based
Share Units		Weighted-
Average
Grant
Date Fair
Value Per Share		Weighted-
Average
Remaining
Term in
Years		Aggregate
Intrinsic
Value
Non-vested performance-based share units outstanding at December 31, 2021918 $47.10 1.2$35.7 
Granted473 $36.48 
Vested(300)$47.59 
Forfeited(22)$43.93 
Non-vested performance-based share units outstanding at December 31, 20221,069 $42.28 1.4$36.4 
Granted487 $36.44 
Vested(252)$55.11 
Forfeited(33)$41.18 
Non-vested performance-based share units outstanding at December 31, 20231,271 $37.65 1.3$40.9 
Schedule Total Fair Value
The total fair value of performance-based restricted share units that vested was as follows (in millions):
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$13.9 $14.3 $14.2 
Service-based Restricted Share Units  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Weighted Average Grant Date Fair Value
The weighted-average fair value per share at the date of grant for service-based restricted share units granted was as follows:
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$36.44 $36.53 $41.36 
Performance-based Restricted Share Units  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Weighted Average Grant Date Fair Value The weighted-average fair value per share at the date of grant for performance-based restricted share units granted was as follows:
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$36.44 $36.48 $41.04 
RTSR  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Weighted Average Grant Date Fair Value
The weighted-average fair value per share at the date of grant for RTSR performance share units granted was as follows:
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$42.09 $40.80 $41.20 

The total fair value of RTSR performance share units that vested was as follows (in millions):
Year Ended
December 31, 2023December 31, 2022December 31, 2021
$— $— $0.5 
Schedule of Nonvested PSUs
A summary of activity related to non-vested RTSR performance share units is presented below (units in thousands):
 Number of
Non-vested
RTSR Performance Share Units		Weighted-
Average
Grant
Date Fair
Value Per Share		Weighted-
Average
Remaining
Term in
Years*		Aggregate
Intrinsic
Value
Non-vested RTSR performance share units outstanding at December 31, 2021236 $53.85 1.2$9.2 
Granted54 $40.80 
Non-vested RTSR performance share units outstanding at December 31, 2022290 $47.36 1.4$9.2 
Granted39 $42.09 
Non-vested RTSR performance share units outstanding at December 31, 2023329 $41.33 1.2$10.6 
* Midpoint used in calculation.
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions
The assumptions used in estimating the fair value of the RTSR performance share units granted during each year were as follows:
 Year Ended
 December 31, 2023December 31, 2022December 31, 2021
Dividend yield3.0 %2.9 %2.3 %
Volatility, as a percent32.0 %37.3 %44.0 %
Risk-free interest rate4.6 %1.7 %0.3 %
Expected life in years2.82.82.8