Stockholders' Equity - Common Stock Repurchased (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Equity [Abstract]
Common stock repurchased (in shares)	1,310,723	0
Average purchase price per share (in dollars per share)	$ 20.32	$ 0
Shares repurchased related to employee stock-based compensation plans (in shares)	683,247	949,431
Average purchase price per share (in dollars per share)	$ 19.91	$ 15.55
Common shares issued (in shares)	1,925,920	2,523,744
Remaining authority under the share repurchase program	$ 623