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Share-Based Compensation Plans - Restricted Stock Unit Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Service-based Restricted Share Units      
Number of Non-vested Service- Based Share Units      
Beginning balance (in shares) 2,041 1,934  
Granted (in shares) 1,452 1,305  
Vested (in shares) (1,120) (1,070)  
Forfeited (in shares) (132) (128)  
Ending balance (in shares) 2,241 2,041 1,934
Weighted- Average Grant Date Fair Value Per Share      
Beginning balance (in dollars per share) $ 39.69 $ 45.52  
Granted (in dollars per share) 36.44 36.53 $ 41.36
Vested (in dollars per share) 40.96 46.19  
Forfeited (in dollars per share) 40.40 41.12  
Ending balance (in dollars per share) $ 36.92 $ 39.69 $ 45.52
Weighted- Average Remaining Term in Years 10 months 24 days 10 months 24 days 9 months 18 days
Aggregate Intrinsic Value $ 72.1 $ 69.6 $ 75.2
Fair value of shares vested in period $ 45.9 $ 49.4 $ 47.2
Performance-based Restricted Share Units      
Number of Non-vested Service- Based Share Units      
Beginning balance (in shares) 1,069 918  
Granted (in shares) 487 473  
Vested (in shares) (252) (300)  
Forfeited (in shares) (33) (22)  
Ending balance (in shares) 1,271 1,069 918
Weighted- Average Grant Date Fair Value Per Share      
Beginning balance (in dollars per share) $ 42.28 $ 47.10  
Granted (in dollars per share) 36.44 36.48 $ 41.04
Vested (in dollars per share) 55.11 47.59  
Forfeited (in dollars per share) 41.18 43.93  
Ending balance (in dollars per share) $ 37.65 $ 42.28 $ 47.10
Weighted- Average Remaining Term in Years 1 year 3 months 18 days 1 year 4 months 24 days 1 year 2 months 12 days
Aggregate Intrinsic Value $ 40.9 $ 36.4 $ 35.7
Fair value of shares vested in period $ 13.9 $ 14.3 $ 14.2