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Stockholders' Equity - Statement of Changes in Common Shares Outstanding (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Class A Common Stock      
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Purchases of treasury stock (25.7) (16.5) (14.3)
  Common Stock | Class A Common Stock      
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Balance 972.1 986.9 996.0
Purchases of treasury stock (25.7) (16.5) (14.3)
Share-based payments 1.8 1.2 2.3
Conversion of Class B to Class A common stock 0.2 0.5 2.9
Balance 948.4 972.1 986.9
  Common Stock | Class B Common Stock      
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Balance 7.8 8.3 11.2
Conversion of Class B to Class A common stock (0.2) (0.5) (2.9)
Balance 7.6 7.8 8.3