Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Awarded share Outstanding ending balance	167,772
Performance Stock Plan
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Weighted-average grant date fair value Outstanding beginning balance	$ 4.88	$ 4.87	$ 4.86
Weighted-average grant date fair value Vested	4.69	4.81	4.73
Weighted-average grant date fair value Forfeited	5.25	4.80	5.50
Weighted-average grant date fair value Outstanding ending balance	$ 5.47	$ 4.88	$ 4.87
Granted Share Outstanding Beginning Balance	708,380	839,842	909,828
Granted Share Vested	(532,282)	(101,900)	(45,736)
Granted Share Forfeited	(8,326)	(29,562)	(24,250)
Granted Share Outstanding Ending Balance	167,772	708,380	839,842
Awarded share Outstanding beginning balance	708,380	839,842	909,828
Awarded share Vested	(532,282)	(101,900)	(45,736)
Awarded share Forfeited	(8,326)	(29,562)	(24,250)
Awarded share Outstanding ending balance	167,772	708,380	839,842
2010 SIP and 2019 SIP
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Weighted-average grant date fair value Outstanding beginning balance	$ 25.01	$ 21.59	$ 19.89
Weighted-average grant date fair value Granted	56.39	65.22	46.05
Weighted-average grant date fair value Awarded	47.60	28.73	25.80
Weighted-average grant date fair value Vested	25.46	20.09	15.73
Weighted-average grant date fair value Forfeited	49.37	37.78	30.54
Weighted-average grant date fair value Outstanding ending balance	$ 27.50	$ 25.01	$ 21.59
Granted Share Outstanding Beginning Balance	7,064,948	7,608,446	9,694,337
Granted Share Granted	1,558,826	1,478,613	1,143,094
Granted Share Awarded	330,310	470,793	310,147
Granted Share Vested	(1,561,615)	(2,179,476)	(3,223,964)
Granted Share Forfeited	(271,154)	(313,428)	(315,168)
Granted Share Outstanding Ending Balance	7,121,315	7,064,948	7,608,446
Awarded share Outstanding beginning balance	4,754,649	5,025,561	6,919,847
Awarded shares Granted	235,738	693,802	204,826
Awarded share Awarded	977,447	1,383,216	1,272,554
Awarded share Vested	(1,561,615)	(2,179,476)	(3,223,964)
Awarded share Forfeited	(129,889)	(168,454)	(147,702)
Awarded share Outstanding ending balance	4,276,330	4,754,649	5,025,561
Shares not yet awarded Outstanding beginning balance	2,310,299	2,582,885	2,774,490
Shares not yet awarded Granted	1,323,088	784,811	938,268
Shares not yet awarded Awarded	(647,137)	(912,423)	(962,407)
Shares not yet awarded Forfeited	(141,265)	(144,974)	(167,466)
Shares not yet awarded Outstanding ending balance	2,844,985	2,310,299	2,582,885