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Earnings Per Share Stock-based Awards (Details) - shares
shares in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Earnings Per Share [Abstract]        
Stock-based awards excluded from diluted EPS calculation (antidilutive) (in shares) 0.4 0.8 0.5 0.8