Shareholders' Equity - Common Stock Activity (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Increase (Decrease) in Stockholders' Equity
Common stock, issued, beginning balance (in shares)	109,218,183
Grants of restricted stock (in shares)	166,202	156,789	161,909
Vesting of performance shares (in shares)	87,031	226,866	282,552
Issuance of common stock due to exercise of stock options (in shares)	1,519,728	1,191,704	936,289
Common stock, issued, ending balance (in shares)	105,218,183	109,218,183
Performance Shares
Increase (Decrease) in Stockholders' Equity
Grants of restricted stock (in shares)	146,500	139,500	151,200
Common Stock
Increase (Decrease) in Stockholders' Equity
Common stock, issued, beginning balance (in shares)	109,218,183	113,218,183	117,218,183
Treasury stock, beginning balance (in shares)	(9,650,845)	(9,420,699)	(9,497,940)
Grants of restricted stock (in shares)	10,746	10,031	4,548
Issuance of common stock due to exercise of stock options (in shares)	1,519,728	1,191,704	936,289
Treasury stock acquired (in shares)	(4,424,668)	(5,642,036)	(5,135,439)
Retirement of treasury stock (in shares)	4,000,000	4,000,000	4,000,000
Common stock, issued, ending balance (in shares)	105,218,183	109,218,183	113,218,183
Treasury stock, ending balance (in shares)	(8,478,288)	(9,650,845)	(9,420,699)
Common Stock | Performance Shares
Increase (Decrease) in Stockholders' Equity
Vesting of performance shares (in shares)	66,751	210,155	271,843