Share-Based Compensation - Schedule of performance period of shares award (Details) - shares shares in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated or actual attainment		100.00%
Minimum | Cumulative Performance Period | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2022
Performance Share Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding		903	953
Performance Share Units | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding		274
Estimated PSU attainment or actual PSUs earned		164
Performance Share Units | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding		308
Estimated PSU attainment or actual PSUs earned		361
Performance Share Units | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSUs outstanding		321
Estimated PSU attainment or actual PSUs earned		443
Performance Share Units | First Annual Performance Periods | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2022
Performance or service period		2022
Estimated or actual attainment	[1]	140.00%
PSUs outstanding		68
Estimated PSU attainment or actual PSUs earned		95
Performance Share Units | First Annual Performance Periods | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2021
Performance or service period		2021
Estimated or actual attainment	[1]	200.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		154
Performance Share Units | First Annual Performance Periods | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2020
Performance or service period		2020
Estimated or actual attainment	[1]	138.00%
PSUs outstanding		80
Estimated PSU attainment or actual PSUs earned		110
Performance Share Units | Second Annual Performance Periods | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2022
Performance or service period		2023
PSUs outstanding		68
Estimated PSU attainment or actual PSUs earned		0
Performance Share Units | Second Annual Performance Periods | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2021
Performance or service period		2022
Estimated or actual attainment	[1]	87.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		67
Performance Share Units | Second Annual Performance Periods | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2020
Performance or service period		2021
Estimated or actual attainment	[1]	200.00%
PSUs outstanding		80
Estimated PSU attainment or actual PSUs earned		160
Performance Share Units | Third Annual Performance Periods | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2022
Performance or service period		2024
PSUs outstanding		69
Estimated PSU attainment or actual PSUs earned		0
Performance Share Units | Third Annual Performance Periods | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2021
Performance or service period		2023
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		0
Performance Share Units | Third Annual Performance Periods | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2020
Performance or service period		2022
Estimated or actual attainment	[1]	69.00%
PSUs outstanding		80
Estimated PSU attainment or actual PSUs earned		55
Performance Share Units | Cumulative Performance Period | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2022
Estimated or actual attainment	[2]	100.00%
PSUs outstanding		69
Estimated PSU attainment or actual PSUs earned		69
Performance Share Units | Cumulative Performance Period | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2021
Estimated or actual attainment	[2]	182.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		140
Performance Share Units | Cumulative Performance Period | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
PSU awards year granted		2020
Estimated or actual attainment	[1]	146.00%
PSUs outstanding		81
Estimated PSU attainment or actual PSUs earned		118
Performance Share Units | Maximum | Cumulative Performance Period | Performance Period Year Granted 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2024
Performance Share Units | Maximum | Cumulative Performance Period | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2023
Performance Share Units | Maximum | Cumulative Performance Period | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2022
Performance Share Units | Minimum | Cumulative Performance Period | Performance Periods Year Granted 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2021
Performance Share Units | Minimum | Cumulative Performance Period | Performance Periods Year Granted 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance or service period		2020

[1] Amounts represent actual attainment and actual PSUs earned as the performance period is complete.

[2] Expense for the cumulative performance/service period is recognized at 100% of estimated attainment until the attainment expected by the end of the cumulative three-year performance period can be estimated, which generally occurs at the end of the second service year.