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Stockholders' Equity (Details)
12 Months Ended
Dec. 31, 2018
class
$ / shares
shares
Dec. 31, 2017
shares
Dec. 31, 2016
shares
Dec. 31, 2018
$ / shares
shares
Schedule of Capitalization, Equity [Line Items]        
Number of classes of preferred stock | class 2      
Preferred stock, dividend rate 4.00% 4.00%    
Stock        
Shares reserved for issuance under stock plans, dividend reinvestment program and conversion of Preferred and Preference Stock       33,572,744
Preferred Stock        
Schedule of Capitalization, Equity [Line Items]        
Preferred stock, dividend rate 4.00%      
Dividends (USD per share) | $ / shares $ 2      
Shares issued upon conversion (shares)       24.24
Redemption price per share (USD per share) | $ / shares       $ 50
Shares authorized to be issued (shares)       600,000
Shares outstanding (shares) 12 12   12
Stock        
Shares outstanding (shares) 12      
Shares outstanding (shares) 12 12    
Preference Stock        
Schedule of Capitalization, Equity [Line Items]        
Dividends (USD per share) | $ / shares $ 2.12      
Shares issued upon conversion (shares)       16.53
Redemption price per share (USD per share) | $ / shares       $ 28
Shares authorized to be issued (shares)       5,000,000
Shares outstanding (shares) 16,301 16,301   14,635
Stock        
Shares outstanding (shares) 16,301      
Shares outstanding (shares) 14,635 16,301    
Common Stock        
Schedule of Capitalization, Equity [Line Items]        
Shares outstanding (shares) 186,603,738 185,668,718 195,521,208 187,675,082
Stock        
Shares outstanding (shares) 186,603,738 185,668,718 195,521,208  
Repurchases of common stock     (10,633,235)  
Issuance of common stock 1,043,809 881,480 767,060  
Conversions to common stock 27,535 53,540 13,685  
Shares outstanding (shares) 187,675,082 186,603,738 185,668,718  
Treasury Stock        
Schedule of Capitalization, Equity [Line Items]        
Shares outstanding (shares) 136,734,174 137,669,194 127,816,704 135,662,830
Stock        
Shares outstanding (shares) 136,734,174 137,669,194 127,816,704  
Repurchases of common stock     (10,633,235)  
Issuance of common stock 1,043,809 881,480 767,060  
Conversions to common stock 27,535 53,540 13,685  
Shares outstanding (shares) 135,662,830 136,734,174 137,669,194