Shareholders' Equity and Other Comprehensive Income - Changes in Shares by Class (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred stock issued, beginning balance (in shares)	22,000,000
Common stock issued, beginning balance (in shares)	170,141,492
Treasury stock, beginning balance (in shares)	24,654,858
Common stock outstanding, beginning balance (in shares)	145,486,634
Stock options exercised (in shares)	697,000	365,000	923,000
Preferred stock issued, ending balance (in shares)	22,000,000	22,000,000
Common stock issued, ending balance (in shares)	171,360,188	170,141,492
Treasury stock, ending balance (in shares)	24,654,858	24,654,858
Common stock outstanding, ending balance (in shares)	146,705,330	145,486,634
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)	170,141,000	169,384,000	168,133,000
Common stock outstanding, beginning balance (in shares)	145,486,000	145,010,000	148,040,000
Warrants exercised and common stock reissued (in shares)			3,000
Issuance of common stock for earnout payment (in shares)			125,000
Restricted share unit activity (in shares)	527,000	399,000	355,000
Stock options exercised (in shares)	692,000	358,000	896,000
Repurchase of common stock (in shares)		281,000	4,400,000
Repurchase of stock (in shares)		(281,000)	(4,409,000)
Common stock issued, ending balance (in shares)	171,360,000	170,141,000	169,384,000
Common stock outstanding, ending balance (in shares)	146,705,000	145,486,000	145,010,000
Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Treasury stock, beginning balance (in shares)	24,655,000	24,374,000	20,093,000
Warrants exercised and common stock reissued (in shares)			(3,000)
Issuance of common stock for earnout payment (in shares)			(125,000)
Repurchase of common stock (in shares)		281,000	4,409,000
Treasury stock, ending balance (in shares)	24,655,000	24,655,000	24,374,000