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Common Stock and Stock-Based Compensation Stock Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share Repurchases [Table Text Block] Share repurchase activity under this program is as follows:
Shares RepurchasedRemaining Authorization to Repurchase
PeriodNumber of sharesCost
(in millions)		Cost
(in millions)
October 23, 2020 Authorization$250.0 
October 23, 2020 through December 31, 20202,974,922 $67.8 $182.2 
January 1, 2021 through March 31, 20211,291,860 36.8 $145.4 
Total4,266,782 $104.6 
Share-based Payment Arrangement, Activity [Table Text Block]
The following table summarizes stock-based compensation awards granted during the three months ended March 31, 2021:
Number of Shares GrantedWeighted Average Grant-Date Fair Value per Award
Restricted stock units1,351 $32.96 
Restricted stock awards2,230 $29.16 
Performance units125,273 $35.42