Preferred and Common Stock - Schedule of Share Activity (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock outstanding, beginning balance (in shares)	412,000,000	422,000,000
Common stock outstanding, ending balance (in shares)	409,914,461	412,000,000	422,000,000
Common stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock outstanding, beginning balance (in shares)	412,155,057	421,691,912	432,906,377
Issued for stock-based compensation plans (in shares)	2,993,340	1,819,651	2,195,681
Repurchase and retirement of common stock (in shares)	(5,233,936)	(11,356,506)	(13,410,146)
Common stock outstanding, ending balance (in shares)	409,914,461	412,155,057	421,691,912