Stockholders' Equity - Capital Stock (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Common stock issued, Class A
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	2,600	2,600	2,600
Ending balance (in shares)	2,600	2,600	2,600
Common stock issued, Class B
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	210,100	209,800	205,700
Shares issued under equity compensation plans (in shares)	300	300	400
Shares exchanged for common stock (in shares)	100		3,700
Ending balance (in shares)	210,500	210,100	209,800
Exchangeable shares issued, Class A
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	2,700	2,700	2,700
Ending balance (in shares)	2,700	2,700	2,700
Exchangeable shares issued, Class B
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	11,100	11,100	14,800
Shares exchanged for common stock (in shares)	(100)		(3,700)
Ending balance (in shares)	11,000	11,100	11,100