Stock-Based Compensation Plans and Arrangements - Employee Stock Purchase Plan (Details) - Employee Stock Purchase Plan - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate	5.31%	3.02%	0.07%
Expected volatility	38.00%	39.00%	34.00%
Expected dividend rate	2.73%	2.78%	0.66%
Expected life of the option	1 year	1 year	1 year
Weighted average fair value of stock purchase rights (in dollars per share)	$ 4.14	$ 4.17	$ 4.93