Common Stock and Treasury Stock - Class of Treasury Stock (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	1,299,108	1,982,792	3,207,170
Stock Options
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	406,230	546,192	1,756,471
Long-term Incentive Program Performance Share Awards (LTIPs)
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	0	10,457	668,240
Total Shareholder Return Awards (TSRs)
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	212,210	782,588	199,413
Restricted Stock Units (RSUs)
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	534,759	522,618	431,504
Employee Stock Purchase Plan (ESPP)
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	145,909	120,937	151,542