Common and Preferred Stock - Share Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Preferred stock authorized for issuance (in shares)	25,000,000
Par value of preferred stock (in dollars per share)	$ 1
Shares of preferred stock outstanding (in shares)	0	0	0
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	600,000,000	600,000,000	600,000,000
Changes in Total Equity
Outstanding - beginning balance (in shares)	298,676,000	322,948,000	354,771,000
Issued for stock option exercises and other benefit plans (in shares)	1,619,000	3,173,000	3,375,000
Repurchased common stock (in shares)	(7,791,000)	(27,445,000)	(35,198,000)
Outstanding - ending balance (in shares)	292,504,000	298,676,000	322,948,000
Treasury stock (in shares)	107,390,000	99,143,000	71,246,000
Common stock, shares issued (in shares)	399,894,000	397,819,000	394,194,000