Shareholders' Equity - Preferred Stock Activity (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Shares, outstanding (in shares)	92,323,978	91,231,611	90,055,797
Series A Convertible Preferred Stock
Class of Stock [Line Items]
Shares, outstanding (in shares)	53,854	58,542	63,589	67,323
Conversion of convertible preferred stock (shares)	(4,688)	(5,047)	(3,734)
Treasury stock, at cost
Class of Stock [Line Items]
Shares, outstanding (in shares)	7,186,521	7,186,521	7,186,521	7,186,521
Common stock
Class of Stock [Line Items]
Shares, outstanding (in shares)				89,185,661
Conversion of convertible preferred stock (shares)	(468,785)	(504,596)	(373,416)
Issuance for share-based compensation plans (shares)	623,582	671,218	496,720