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Schedule I - Debt (Details) - USD ($)
Dec. 31, 2023
Dec. 31, 2022
Feb. 28, 2021
Financial guarantee | Subsidiaries      
Debt Instrument [Line Items]      
Restricted cash $ 79,000,000    
Parent company      
Debt Instrument [Line Items]      
Restricted cash 79,000,000 $ 57,000,000  
February 2026 | Line of credit | Parent company      
Debt Instrument [Line Items]      
Borrowing limit, total initial borrowings     $ 875,000,000
Balance drawn $ 0