Share-Based Awards - Stock Options Outstanding by Price Range (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range
Weighted-Average Contractual Life, options outstanding	6 years 4 months 24 days
Options (in shares) | shares	626
Weighted-Average Exercise Price, options outstanding (in dollars per share)	$ 42
Weighted-Average Contractual Life, Options exercisable	4 years 1 month 6 days
Options exercisable (in shares) | shares	251
Weighted-Average Exercise Price, Options exercisable (in dollars per share)	$ 50
$30.01 to $40
Share-based Payment Arrangement, Option, Exercise Price Range
Weighted-Average Contractual Life, options outstanding	7 years 10 months 24 days
Options (in shares) | shares	500
Weighted-Average Exercise Price, options outstanding (in dollars per share)	$ 37
Lower Range Limit (in dollars per share)	30.01
Upper Range Limit (in dollars per share)	$ 40
$40.01 to $50
Share-based Payment Arrangement, Option, Exercise Price Range
Weighted-Average Contractual Life, options outstanding	0 years
Options (in shares) | shares	0
Weighted-Average Exercise Price, options outstanding (in dollars per share)	$ 0
Lower Range Limit (in dollars per share)	40.01
Upper Range Limit (in dollars per share)	$ 50
$50.01 to $60
Share-based Payment Arrangement, Option, Exercise Price Range
Weighted-Average Contractual Life, options outstanding	0 years
Options (in shares) | shares	0
Weighted-Average Exercise Price, options outstanding (in dollars per share)	$ 0
Lower Range Limit (in dollars per share)	50.01
Upper Range Limit (in dollars per share)	$ 60
$60.01 to $70
Share-based Payment Arrangement, Option, Exercise Price Range
Weighted-Average Contractual Life, options outstanding	4 months 24 days
Options (in shares) | shares	126
Weighted-Average Exercise Price, options outstanding (in dollars per share)	$ 63
Lower Range Limit (in dollars per share)	60.01
Upper Range Limit (in dollars per share)	$ 70