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Schedule II Condensed Financial Information of Registrant - Condensed Balance Sheet (Additional Information) (Details) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Condensed Financial Statements, Captions [Line Items]      
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001  
Preferred stock, shares authorized (in shares) 1,000,000 1,000,000  
Preferred stock, shares issued (in shares) 0 0  
Common stock, par value (in usd per share) $ 0.001 $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 75,000,000 75,000,000  
Common stock, shares issued (in shares) 66,436,821 66,316,797  
Treasury stock (in shares) 25,043,337 24,902,579  
Parent company      
Condensed Financial Statements, Captions [Line Items]      
Preferred stock, par value (in usd per share) $ 1,000.000 $ 1,000.000  
Preferred stock, shares authorized (in shares) 1,000,000,000,000 1,000,000,000,000  
Preferred stock, shares issued (in shares) 0 0  
Common stock, par value (in usd per share) $ 1,000 $ 1,000  
Common stock, shares authorized (in shares) 75,000,000,000,000 75,000,000,000,000  
Common stock, shares issued (in shares) 66,436,821,000,000 66,316,797,000,000  
Treasury stock (in shares) 25,043,337,000,000 24,902,579,000,000