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Stock-Based Incentive Plans Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding, beginning (in shares) 1,217,438 1,439,708 1,272,048
Granted (in shares) 167,969 132,832 248,899
Exercised (in shares) (270,024) (211,352) (74,930)
Forfeited (in shares) (45,247) (106,745) (6,309)
Expired (in shares) (55,466) (37,005)  
Outstanding, ending (in shares) 1,014,670 1,217,438 1,439,708
Vested and expected to vest (in shares) 996,118    
Exercisable (in shares) 415,914    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Weighted average share price, beginning (in dollars per share) $ 66.43 $ 63.21 $ 61.44
Weighted average share price, granted (in dollars per share) 87.17 98.97 69.12
Weighted average share price, exercised (in dollars per share) 76.01 57.36 52.43
Weighted average share price, forfeited (in dollars per share) 86.39 72.19 68.80
Weighted average share price, expired (in dollars per share) 107.78 93.06  
Weighted average share price, ending (in dollars per share) 64.16 $ 66.43 $ 63.21
Vested and expected to vest, weighted average exercise price (in dollars per share) 63.71    
Exercisable, weighted average exercise price (in dollars per share) $ 70.43    
Options, outstanding, weighted average remaining contractual term 6 years 4 months 24 days    
Share-based compensation arrangement by share-based payment award, options, vested and expected to vest, exercisable, weighted average remaining contractual term 6 years 4 months 24 days    
Exercisable weighted average remaining contractual term 5 years    
Options, outstanding, intrinsic value $ 7.0    
Options, vested and expected to vest, outstanding, aggregate intrinsic value 7.0    
Options, exercisable, intrinsic value $ 0.9