Stock-Based Compensation - Summary of Option Activity (Details) - Non-qualified stock options - $ / shares shares in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Options
Outstanding at the beginning of the period	1.7	1.6	1.3
Options granted	0.2	0.4	0.5
Options exercised	(0.1)	(0.3)	(0.2)
Outstanding at the end of the period	1.8	1.7	1.6	1.3
Weighted-Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)	$ 51.28	$ 51.07	$ 47.92
Options granted (in dollars per share)	52.17	44.90	54.82
Options exercised (in dollars per share)	37.99	38.03	32.18
Outstanding at the end of the period (in dollars per share)	$ 52.01	$ 51.28	$ 51.07	$ 47.92
Remaining Contractual Life
Outstanding	5 years 8 months 12 days	6 years 3 months 18 days	6 years	5 years 7 months 6 days
Options granted	0 years	0 years	0 years
Options exercised	0 years		0 years