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Stock-based Compensation and Other Employee Benefit Plans RSU and RSAs (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant 0.1    
Award with service conditions [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Unvested RSUs and RSAs outstanding at January 1 (in shares) 0.4    
Granted (in shares) 0.2    
Vested (in shares) (0.1)    
Forfeited (in shares) 0.0    
Unvested RSUs and RSAs outstanding at December 31 (in shares) 0.5 0.4  
Unvested and expected to vest RSUs and RSAs outstanding at December 31 (in shares) 0.4    
Awards with performance and service conditions [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Unvested RSUs and RSAs outstanding at January 1 (in shares) 0.9    
Granted (in shares) 0.4    
Vested (in shares) (0.5)    
Forfeited (in shares) (0.1)    
Unvested RSUs and RSAs outstanding at December 31 (in shares) 0.7 0.9  
Unvested and expected to vest RSUs and RSAs outstanding at December 31 (in shares) 0.7    
Restricted Stock Units and Awards [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant 2.9    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Unvested RSUs and RSAs outstanding at January 1 (in shares) 1.3    
Granted (in shares) 0.6    
Vested (in shares) (0.6)    
Forfeited (in shares) (0.1)    
Unvested RSUs and RSAs outstanding at December 31 (in shares) 1.2 1.3  
Unvested and expected to vest RSUs and RSAs outstanding at December 31 (in shares) 1.1    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]      
Unvested RSUs and RSAs outstanding at January 1, weighted average grant date fair value (in dollars per share) $ 60.87    
Granted, weighted average grant date fair value (in dollars per share) 62.26 $ 74.61 $ 49.62
Vested, weighted average grant date fair value (in dollars per share) 56.58    
Forfeited, weighted average grant date fair value (in dollars per share) 67.58    
Unvested RSUs and RSAs outstanding at December 31, weighted average grant date fair value (in dollars per share) 63.21 $ 60.87  
Unvested and expected to vest RSUs and RSAs outstanding at December 31, weighted average grant date fair value (in dollars per share) $ 62.96    
Liability Award [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Deferred Compensation Share-based Arrangements, Liability, Current and Noncurrent $ 0.2 $ 0.5