Stock Plans and Share-Based Compensation - Performance Unit Grant and Vesting Information (Details) - Performance Units - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average grant date fair value (in dollars per share)	$ 31.57	$ 33.89	$ 30.11
Fair Value of Units Vested (in Millions)	$ 16	$ 24	$ 19