Stock Plans and Share-Based Compensation - Restricted Stock Grant and Vesting Information (Details) - Stock Options - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average grant date fair value (in dollars per share)	$ 31.46	$ 34.55	$ 29.84
Fair Value of Units Vested (in Millions)	$ 8	$ 5	$ 12