Preferred and Common Stock - Schedule of Activity for Stock Options and Stock Awards (Details) shares in Millions	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Number of options
Number of options outstanding at the beginning of the year (in shares) | shares	0.9
Number of options, granted (in shares) | shares	0.0
Number of options, exercised (in shares) | shares	(0.4)
Number of options, converted (in shares) | shares	0.0
Number of options, expired or forfeited (in shares) | shares	0.0
Number of options, performance share adjustment (in shares) | shares	0.0
Number of options outstanding at the ending of the year (in shares) | shares	0.5
Weighted average exercise price per option
Weighted average exercise price per option, outstanding beginning of year (in usd per share) | $ / shares	$ 23.86
Weighted average exercise price per option, granted (in usd per share) | $ / shares	0
Weighted average exercise price per option, exercised (in usd per share) | $ / shares	25.14
Weighted average exercise price per option, converted (in usd per share) | $ / shares	0
Weighted average exercise price per option, expired or forfeited (in usd per share) | $ / shares	0
Weighted average exercise price, performance share adjustment (in usd per share) | $ / shares	0
Weighted average exercise price per option, outstanding ending of year (in usd per share) | $ / shares	$ 22.67
Number of awards
Number of awards, outstanding beginning of year (in shares) | shares	6.5
Number of awards, granted (in shares) | shares	0.6
Number of awards, exercised (in shares) | shares	0.0
Number of awards, converted (in shares) | shares	(4.3)
Number of awards, expired or forfeited (in shares) | shares	(0.1)
Number of awards, performance share adjustment (in shares) | shares	0.3
Number of awards, outstanding ending of year (in shares) | shares	3.0
Weighted average FMV per award
Weighted average FMV per award, outstanding beginning of year (in usd per share) | $ / shares	$ 17.77
Weighted average FMV per award, granted (in usd per share) | $ / shares	45.25
Weighted average FMV per award, exercised (in usd per share) | $ / shares	0
Weighted average FMV per award, converted (in usd per share) | $ / shares	10.31
Weighted average FMV per award, expired or forfeited (in usd per share) | $ / shares	34.88
Weighted average FMV per award, performance share adjustment (in usd per share) | $ / shares	21.33
Weighted average FMV per award, outstanding, ending of year (in usd per share) | $ / shares	$ 34.23