Shareholders' Equity - Common Stock Activity (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity
Common stock, issued, beginning balance (in shares)	105,218,183
Treasury stock, beginning balance (in shares)	(8,478,288)
Grants of restricted stock (in shares)	194,864	166,202	156,789
Vesting of performance shares (in shares)	100,887	87,031	226,866
Issuance of common stock due to exercise of stock options (in shares)	1,375,313	1,519,728	1,191,704
Common stock, issued, ending balance (in shares)	102,218,183	105,218,183
Treasury stock, ending balance (in shares)	(8,426,854)	(8,478,288)
Performance Shares
Increase (Decrease) in Stockholders' Equity
Grants of restricted stock (in shares)	81,300	146,500	139,500
Common Stock
Increase (Decrease) in Stockholders' Equity
Common stock, issued, beginning balance (in shares)	105,218,183	109,218,183	113,218,183
Treasury stock, beginning balance (in shares)	(8,478,288)	(9,650,845)	(9,420,699)
Grants of restricted stock (in shares)	7,110	10,746	10,031
Issuance of common stock due to exercise of stock options (in shares)	1,375,313	1,519,728	1,191,704
Treasury stock acquired (in shares)	(4,415,287)	(4,424,668)	(5,642,036)
Retirement of treasury stock (in shares)	(3,000,000)	(4,000,000)	(4,000,000)
Common stock, issued, ending balance (in shares)	102,218,183	105,218,183	109,218,183
Treasury stock, ending balance (in shares)	(8,426,854)	(8,478,288)	(9,650,845)
Common Stock | Performance Shares
Increase (Decrease) in Stockholders' Equity
Vesting of performance shares (in shares)	84,298	66,751	210,155