Pension and Postretirement Benefits - Weighted-Average Assumptions Used to Determine Projected Benefit Obligations and Periodic Benefit Cost (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Guaranteed minimum rate	4.45%		3.00%
Pension plans
Defined Benefit Plan Disclosure [Line Items]
Discount rate for determining projected benefit obligation at December 31	4.57%	4.83%	2.38%
Discount rate in effect for determining service cost	3.82%	1.64%	1.89%
Discount rate in effect for determining interest cost	4.76%	2.05%	1.47%
Weighted average expected long-term return on plan assets	5.60%	5.32%	5.70%
Rate of compensation increase for determining projected benefit obligation at December 31	2.87%	2.89%	2.88%
Rate of compensation increase for determining net pension cost	2.97%	2.81%	3.04%
Pension plans | Maximum
Defined Benefit Plan Disclosure [Line Items]
Interest credit rates for cash balance	4.45%	4.45%	4.45%
Pension plans | Minimum
Defined Benefit Plan Disclosure [Line Items]
Interest credit rates for cash balance	4.02%	3.94%	3.00%
Postretirement benefit obligations
Defined Benefit Plan Disclosure [Line Items]
Discount rate for determining projected benefit obligation at December 31	4.81%	4.70%	1.80%
Discount rate in effect for determining interest cost	4.71%	2.00%	1.20%