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Debt - Summary of Debt (Parenthetical) (Details) - USD ($)
$ in Millions
12 Months Ended
Nov. 21, 2019
Dec. 13, 2017
Sep. 05, 2014
Oct. 22, 2013
Dec. 31, 2020
Dec. 31, 2019
Revolving Credit Facility, due August 2021 | Line of Credit            
Debt Instrument [Line Items]            
Credit facility, expiration date         Aug. 21, 2021 Aug. 21, 2021
Stated interest rate         0.00% 0.00%
4.50% Senior Notes, due November 2023 | Senior Notes            
Debt Instrument [Line Items]            
Stated interest rate       4.50% 4.50% 4.50%
Senior notes, discount         $ 0.6 $ 0.8
Debt instrument, maturity date       Nov. 01, 2023 Nov. 01, 2023 Nov. 01, 2023
3.65% Senior Notes, due September 2024 | Senior Notes            
Debt Instrument [Line Items]            
Stated interest rate     3.65%   3.65% 3.65%
Senior notes, discount         $ 0.5 $ 0.6
Debt instrument, maturity date     Sep. 15, 2024   Sep. 15, 2024 Sep. 15, 2024
3.40% Senior Notes, due December 2027 | Senior Notes            
Debt Instrument [Line Items]            
Stated interest rate   3.40%     3.40% 3.40%
Senior notes, discount         $ 1.3 $ 1.3
Debt instrument, maturity date   Dec. 15, 2027     Dec. 15, 2027 Dec. 15, 2027
3.00% Senior Notes, due December 2029            
Debt Instrument [Line Items]            
Stated interest rate           3.00%
3.00% Senior Notes, due December 2029 | Senior Notes            
Debt Instrument [Line Items]            
Stated interest rate 3.00%       3.00% 3.00%
Senior notes, discount         $ 0.6 $ 0.7
Debt instrument, maturity date Dec. 15, 2029       Dec. 15, 2029 Dec. 15, 2029
4.05% Senior Notes, due December 2049            
Debt Instrument [Line Items]            
Stated interest rate           4.05%
4.05% Senior Notes, due December 2049 | Senior Notes            
Debt Instrument [Line Items]            
Stated interest rate 4.05%       4.05% 4.05%
Senior notes, discount         $ 3.4 $ 3.5
Debt instrument, maturity date Dec. 15, 2049       Dec. 15, 2049 Dec. 15, 2049