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Stockholders' Equity and Non-controlling Interests - Stock Repurchase Program (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Equity, Class of Treasury Stock [Line Items]      
Repurchase of common stock   $ 0 $ 16
Open Market Share Repurchase Program      
Equity, Class of Treasury Stock [Line Items]      
Stock repurchased during period (in shares) 233,769    
Treasury stock acquired, average price (in dollars per share) $ 67.87    
10b5-1 Share Repurchase Program      
Equity, Class of Treasury Stock [Line Items]      
Repurchase of common stock $ 16