Stock-Based Compensation - Schedule of Number of Common Shares Reserved for Issuance (Details) - shares shares in Millions	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for granting (in shares)	18.3	19.3
Options outstanding (shares)	0.1	0.2
Total shares reserved for issuance (in shares)	18.4	19.5
Total shares reserved for issuance (less than) (in shares)	18.4	19.5
Director Deferred Stock Ownership Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total shares reserved for issuance (in shares)	1.0	1.0
Total shares reserved for issuance (less than) (in shares)	1.0	1.0