Share-Based Compensation and Other Incentive Plans - Valuation Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility of common stock	24.40%	29.20%	27.30%
Risk-free interest rate	4.20%	2.50%	0.80%
Dividend yield	1.60%	1.90%	2.20%
Expected life (years)	5 years 10 months 24 days	6 years 7 months 6 days	5 years 10 months 24 days
Performance Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility of common stock	25.10%	29.70%	28.50%
Expected volatility of the S&P 500	33.30%	39.20%	38.70%
Risk-free interest rate	4.10%	2.00%	1.20%
Dividend yield	1.70%	2.00%	2.30%
Expected life (years)	6 years 6 months	6 years 6 months	6 years 6 months
Market Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility of common stock	25.10%	29.70%	28.50%
Risk-free interest rate	4.50%	1.90%	0.30%
Dividend yield	1.50%	1.60%	1.80%
Performance Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility of common stock	25.10%	29.70%	28.50%
Expected volatility of the S&P 500	33.30%	39.20%	38.70%
Risk-free interest rate	4.60%	1.80%	0.30%
Dividend yield	1.40%	1.60%	1.80%