Common Stock and Treasury Stock - Class of Treasury Stock (Details) - shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	1,982,792	3,207,170	1,241,141
Stock Options
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	546,192	1,756,471	854,524
Long-term Incentive Program Performance Share Awards (LTIPs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	10,457	668,240	0
Total Shareholder Return Awards (TSRs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	782,588	199,413	0
Restricted Stock Units (RSUs)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	522,618	431,504	259,634
Employee Stock Purchase Plan (ESPP)
Equity, Class of Treasury Stock [Line Items]
Treasury shares issued (in shares)	120,937	151,542	126,983