Stockholders' Equity - Capital Stock (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Capital Stock Activity [Roll Forward]
Purchase of treasury shares (in shares)	(3,454,694)	(995,000)
Common stock issued, Class A
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	2,600,000	2,600,000	2,600,000
Ending balance (in shares)	2,600,000	2,600,000	2,600,000
Common stock issued, Class B
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	200,000,000.0	200,600,000	200,300,000
Shares issued under equity compensation plans (in shares)	400,000	300,000	300,000
Purchase of treasury shares (in shares)	(3,400,000)	(1,000,000.0)
Shares exchanged for common stock (in shares)	1,600,000	100,000
Ending balance (in shares)	198,600,000	200,000,000.0	200,600,000
Exchangeable shares issued, Class A
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	2,700,000	2,700,000	2,700,000
Ending balance (in shares)	2,700,000	2,700,000	2,700,000
Exchangeable shares issued, Class B
Capital Stock Activity [Roll Forward]
Beginning balance (in shares)	11,000,000.0	11,100,000	11,100,000
Shares exchanged for common stock (in shares)	(1,600,000)	(100,000)
Ending balance (in shares)	9,400,000	11,000,000.0	11,100,000