Common Stock Issued and Outstanding - Number of Shares of Common Stock Issued and Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning of year (in shares)	155,467,319	154,463,050	153,598,625
Stock options exercised (in shares)	2,657	181,655	32,554
Restricted stock awards (in shares)	689,824	822,614	831,871
Treasury shares purchased (in shares)	(3,411,158)	0	0
End of year (in shares)	152,748,642	155,467,319	154,463,050