Earnings Per Share - Schedule of Weighted Average Number of Shares Outstanding Excluded from the Computation of Diluted Earnings Per Share (Details) - shares shares in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from the computation of diluted earnings (in shares)	6.2	3.5	5.6	3.2
Performance awards | Antidilutive or Performance Condition not met
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from the computation of diluted earnings (in shares)		2.5		2.1
Performance-based restricted stock units | Antidilutive or Performance Condition not met
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from the computation of diluted earnings (in shares)		0.4		0.4
Restricted stock units | Antidilutive or Performance Condition not met
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from the computation of diluted earnings (in shares)		1.6		1.3
Stock options | Antidilutive or Performance Condition not met
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from the computation of diluted earnings (in shares)	0.7	0.8	0.8	0.7