Consolidated Statements of Changes in Equity - (Parenthetical) - $ / shares |
12 Months Ended | ||
---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
Statement of Stockholders' Equity [Abstract] | |||
Dividends declared on common stock (in usd per share) | $ 1.33 | $ 1.27 | $ 1.21 |