Stockholders' Equity - Reconciliation of Denominators Used in Computation of Basic and Diluted Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stockholders' Equity Note [Abstract]
Basic weighted average shares outstanding (in shares)	571,271,846	573,777,790	574,808,030
Weighted shares assumed upon exercise of stock options (in shares)	1,736,762	1,845,324	2,309,026
Diluted weighted average shares outstanding (in shares)	573,008,608	575,623,114	577,117,056