Share-based Compensation and Other Employment Benefit Plans - Stock Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Quantity
Outstanding at beginning of year (in shares)	1,113,000	1,478,000	2,401,000
Options exercised (in shares)	(697,000)	(365,000)	(923,000)
Options expired/canceled (in shares)	0	0	0
Options outstanding at end of year (in shares)	416,000	1,113,000	1,478,000
Options exercisable at end of year (in shares)	416,000	1,113,000	1,478,000
Weighted-Average Exercise Price
Outstanding at beginning of year (in dollars per share)	$ 23.51	$ 22.71	$ 22.47
Options exercised (in dollars per share)	18.97	20.27	22.07
Options expired (in dollars per share)	0	0	0
Options outstanding at end of year (in dollars per share)	31.13	23.51	22.71
Options exercisable at end of year (in dollars per share)	$ 31.13	$ 23.51	$ 22.71