Incentive Based Compensation - Stock Option Award Activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2020
Number of Shares
Beginning of year, stock option awards (in shares)	4,274,304
Granted, stock option awards (in shares)	0
Exercised, stock option awards (in shares)	(2,176,680)
Canceled, stock option awards (in shares)	(419,100)
End of year, stock option awards (in shares)	1,678,524
Exercisable at end of year, stock option awards (in shares)	1,389,461
Expected to vest, stock option awards (in shares)	289,063
Weighted Average Exercise Price
Beginning of year, weighted average exercise price (in dollars per share)	$ 22.13
Granted, weighted average exercise price (in dollars per share)	0	$ 10.47
Exercises, weighted average exercise price (in dollars per share)	14.73
Canceled, weighted average exercise price (in dollars per share)	33.56
End of year, weighted average exercise price (in dollars per share)	28.86
Exercisable at end of year, weighted average exercise price (in dollars per share)	32.69
Expected to vest, weighted average exercise price (in dollars per share)	$ 10.47
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Outstanding at end of year, Weighted Average Remaining Contractual Term	2 years
Exercisable at end of year, Weighted Average Remaining Contractual Term	1 year
Expected to vest, Weighted Average Remaining Contractual Term	7 years
Outstanding at end of year, Average Intrinsic Value	$ 5
Exercisable at end of year, Average Intrinsic Value	0
Expected to vest, Average Intrinsic Value	$ 5