Stock Based Compensation and Other Incentive Compensation - Performance Units (Details) - Performance Units [Member] - Free Cash Flow (FCF) Awards [Member] - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Incentive compensation arrangement, by award, grants in period	$ 12.8	$ 11.1	$ 11.7
Incentive compensation arrangement, cost not yet recognized, amount	$ 11.3
Incentive compensation arrangement, cost not yet recognized, period for recognition	2 years