Stock-Based Compensation - Outstanding and Exercisable SARs by Grant Price (Details) - SARs - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award
Number of shares/units outstanding (in shares)	7,331	9,112	11,185	19,258
Outstanding, weighted-average grant price per share (in dollars per share)	$ 23.72	$ 22.22	$ 20.47	$ 18.83
Outstanding, weighted- average remaining contractual life (in years)	3 years
Exercisable, number (in shares)	6,796
Exercisable, weighted-average grant price per share (in dollars per share)	$ 22.44	$ 20.97	$ 19.80
Exercisable, weighted- average remaining contractual life (in years)	2 years 6 months
$10.01-$20.00
Share-based Compensation Arrangement by Share-based Payment Award
Grant price range, lower limit (in usd per share)	$ 10.01
Grant price range, lower limit (in usd per share)	$ 20.00
Number of shares/units outstanding (in shares)	3,373
Outstanding, weighted-average grant price per share (in dollars per share)	$ 17.98
Outstanding, weighted- average remaining contractual life (in years)	1 year 9 months 18 days
Exercisable, number (in shares)	3,373
Exercisable, weighted-average grant price per share (in dollars per share)	$ 17.98
Exercisable, weighted- average remaining contractual life (in years)	1 year 9 months 18 days
$20.01-$30.00
Share-based Compensation Arrangement by Share-based Payment Award
Grant price range, lower limit (in usd per share)	$ 20.01
Grant price range, lower limit (in usd per share)	$ 30.00
Number of shares/units outstanding (in shares)	2,926
Outstanding, weighted-average grant price per share (in dollars per share)	$ 25.27
Outstanding, weighted- average remaining contractual life (in years)	2 years 8 months 12 days
Exercisable, number (in shares)	2,926
Exercisable, weighted-average grant price per share (in dollars per share)	$ 25.27
Exercisable, weighted- average remaining contractual life (in years)	2 years 8 months 12 days
$30.01-$40.00
Share-based Compensation Arrangement by Share-based Payment Award
Grant price range, lower limit (in usd per share)	$ 30.01
Grant price range, lower limit (in usd per share)	$ 40.00
Number of shares/units outstanding (in shares)	789
Outstanding, weighted-average grant price per share (in dollars per share)	$ 34.57
Outstanding, weighted- average remaining contractual life (in years)	7 years 1 month 6 days
Exercisable, number (in shares)	413
Exercisable, weighted-average grant price per share (in dollars per share)	$ 33.36
Exercisable, weighted- average remaining contractual life (in years)	5 years 9 months 18 days
Over $40.00
Share-based Compensation Arrangement by Share-based Payment Award
Grant price range, lower limit (in usd per share)	$ 40.00
Number of shares/units outstanding (in shares)	243
Outstanding, weighted-average grant price per share (in dollars per share)	$ 49.51
Outstanding, weighted- average remaining contractual life (in years)	8 years 1 month 6 days
Exercisable, number (in shares)	84
Exercisable, weighted-average grant price per share (in dollars per share)	$ 49.51
Exercisable, weighted- average remaining contractual life (in years)	8 years 1 month 6 days