Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Effective income tax rate	11.40%	14.90%	13.50%
Increase in deferred tax assets	$ 100,000,000	$ 130,000,000
Increase in current tax liability	100,000,000	130,000,000
Net operating loss carryforwards	435,000,000	432,000,000
Tax credits	43,000,000	32,000,000
GILTI, BEAT and FDII provisional income tax (benefit) expense	(16,000,000)	(19,000,000)	$ (20,000,000)
Unrecognized tax benefits that would affect annual effective tax rate	9,000,000	7,000,000
Net tax benefit, interest and penalties	(1,000,000)	(1,000,000)	$ 0
Penalties and interest accrued	4,000,000	$ 5,000,000
Expire Year 2024 Through 2039
Income Tax Contingency [Line Items]
NOLs expiring	171,000,000
Expire Year 2024 through 2041
Income Tax Contingency [Line Items]
NOLs expiring	$ 34,000,000