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Stock-based compensation - non-option award rollforward (Details) - RSUs
shares in Millions
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Number of awards  
Beginning balance (in shares) | shares 4.2
Granted (in shares) | shares 1.6
Vested (in shares) | shares (0.9)
Forfeited (in shares) | shares 0.0
Ending balance (in shares) | shares 4.9
Weighted average grant date fair value per award  
Beginning balance (in dollars per share) | $ / shares $ 24.29
Granted (in dollars per share) | $ / shares 26.88
Vested (in dollars per share) | $ / shares 21.22
Forfeited (in dollars per share) | $ / shares 27.81
Ending balance (in dollars per share) | $ / shares $ 25.76