Common Stock and Treasury Stock - Schedule of Treasury Shares Issued by Award Type (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	1,150,111	1,299,108	1,982,792
Stock options
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	343,093	406,230	546,192
LTIP performance shares
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	0	0	10,457
TSRs
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	0	212,210	782,588
RSUs
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	666,026	534,759	522,618
ESPP
Equity, Class of Treasury Stock [Line Items]
Total treasury shares issued (in shares)	140,992	145,909	120,937