Share-Based Compensation - Valuation Assumptions of Market-based Restricted Stock Units Granted (Details) - Market-based Restricted Stock Awards - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Underlying stock price at valuation date (in dollars per share)	$ 77.8	$ 99.32	$ 113.27
Expected volatility	32.00%	36.70%	30.30%
Risk-free interest rate	4.10%	1.80%	1.30%