Shareholders' Equity and Other Comprehensive Income - Changes in Shares by Class (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred stock issued, beginning balance (in shares)	22,000,000
Common stock issued, beginning balance (in shares)	169,383,758
Treasury stock, beginning balance (in shares)	24,373,672
Common stock outstanding, beginning balance (in shares)	145,010,086
Stock options exercised (in shares)	365,000	923,000	572,000
Preferred stock issued, ending balance (in shares)	22,000,000	22,000,000
Common stock issued, ending balance (in shares)	170,141,492	169,383,758
Treasury stock, ending balance (in shares)	24,654,858	24,373,672
Common stock outstanding, ending balance (in shares)	145,486,634	145,010,086
Preferred Shares Issued
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred stock issued, beginning balance (in shares)	22,000,000	22,000,000	22,000,000
Preferred stock issued, ending balance (in shares)	22,000,000	22,000,000	22,000,000
Preferred Shares Issued | Series D Preferred Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred stock issued, beginning balance (in shares)	8,000,000	8,000,000	8,000,000
Preferred stock issued, ending balance (in shares)	8,000,000	8,000,000	8,000,000
Preferred Shares Issued | Series E Preferred Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred stock issued, beginning balance (in shares)	14,000,000	14,000,000	14,000,000
Preferred stock issued, ending balance (in shares)	14,000,000	14,000,000	14,000,000
Common Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock issued, beginning balance (in shares)	169,384,000	168,133,000	166,801,000
Common stock outstanding, beginning balance (in shares)	145,010,000	148,040,000	147,158,000
Issuance of common stock for earnout payment (in shares)			379,000
Warrants exercised and common stock reissued (in shares)		3,000
Common stock reissued for earnout payment (in shares)		125,000
Restricted share unit activity (in shares)	399,000	355,000	389,000
Stock options exercised (in shares)	358,000	896,000	564,000
Repurchase of common stock (in shares)	281,000	4,400,000	450,000
Repurchase of stock (in shares)	(281,000)	(4,409,000)	(450,000)
Common stock issued, ending balance (in shares)	170,141,000	169,384,000	168,133,000
Common stock outstanding, ending balance (in shares)	145,486,000	145,010,000	148,040,000
Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Treasury stock, beginning balance (in shares)	24,374,000	20,093,000	19,643,000
Warrants exercised and common stock reissued (in shares)		(3,000)
Common stock reissued for earnout payment (in shares)		(125,000)
Repurchase of common stock (in shares)	281,000	4,409,000	450,000
Treasury stock, ending balance (in shares)	24,655,000	24,374,000	20,093,000