Share-Based Compensation - Schedule of performance period of shares award (Details) - shares shares in Thousands		3 Months Ended
		Mar. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Estimated or actual attainment		100.00%
Performance Share Units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSUs outstanding		847	903
Performance Share Units | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSUs outstanding		265
Estimated PSU attainment or actual PSUs earned		163
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		193
Performance Share Units | Performance Period Year Granted 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSUs outstanding		308
Estimated PSU attainment or actual PSUs earned		410
Performance Share Units | First Annual Performance Periods | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2023
Performance or service period		2023
Estimated or actual attainment	[1]	146.00%
PSUs outstanding		66
Estimated PSU attainment or actual PSUs earned		96
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	[2]	140.00%
PSUs outstanding		68
Estimated PSU attainment or actual PSUs earned		95
Performance Share Units | First Annual Performance Periods | Performance Period 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	[2]	200.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		154
Performance Share Units | Second Annual Performance Periods | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2023
Performance or service period		2024
PSUs outstanding		66
Estimated PSU attainment or actual PSUs earned		0
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
Estimated or actual attainment	[1]	43.00%
PSUs outstanding		68
Estimated PSU attainment or actual PSUs earned		29
Performance Share Units | Second Annual Performance Periods | Performance Period 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	[2]	87.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		67
Performance Share Units | Third Annual Performance Periods | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2023
Performance or service period		2025
PSUs outstanding		66
Estimated PSU attainment or actual PSUs earned		0
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 Period Year Granted 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2021
Performance or service period		2023
Estimated or actual attainment	[1]	72.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		56
Performance Share Units | Cumulative Performance Period | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2023
Estimated or actual attainment	[3]	100.00%
PSUs outstanding		67
Estimated PSU attainment or actual PSUs earned		67
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	[3]	100.00%
PSUs outstanding		69
Estimated PSU attainment or actual PSUs earned		69
Performance Share Units | Cumulative Performance Period | Performance Period Year Granted 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
PSU awards year granted		2021
Estimated or actual attainment	[1]	172.00%
PSUs outstanding		77
Estimated PSU attainment or actual PSUs earned		133
Performance Share Units | Maximum | Cumulative Performance Period | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Performance or service period		2025
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 Period Year Granted 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Performance or service period		2023
Performance Share Units | Minimum | Cumulative Performance Period | Performance Period Year Granted 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Performance or service period		2023
Performance Share Units | 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 | Minimum | Cumulative Performance Period | Performance Period Year Granted 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Performance or service period		2021

[1] Amounts represent estimated attainment and estimated PSUs.

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

[3] Expense for the cumulative performance/service period is recognized at 100% of the estimated attainment until the end of the second service year.