Share-Based Compensation Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Options
Options outstanding, number of options (in shares)	1,131	1,248
Forfeited or expired (in shares)	(180)	(117)
Options outstanding, number of options (in shares)	951	1,131	1,248
Options exercisable (in shares)	951
Options expected to vest (in shares)	0
Weighted-Average Exercise Price Per Share
Beginning options outstanding, weighted average exercise price (in dollars per share)	$ 92.87	$ 93.80
Forfeited or expired (in dollars per share)	100.85	102.86
Ending options outstanding, weighted average exercise price (in dollars per share)	91.36	$ 92.87	$ 93.80
Options exercisable (in dollars per share)	91.36
Options expected to vest (in dollars per share)	$ 0
Weighted- average remaining term in years, options outstanding	3 years 2 months 12 days	3 years 8 months 12 days	4 years 4 months 24 days
Weighted- average remaining term in years, options exercisable	3 years 2 months 12 days
Weighted- average remaining term in years, options expected to vest	0 years
Aggregate intrinsic value, options outstanding	$ 0	$ 0	$ 0
Aggregate intrinsic value, options exercisable	0
Aggregate intrinsic value, options expected to vest	$ 0
Options exercised, aggregate intrinsic value		$ 0	$ 0	$ 0