Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 1	$ 1
Preferred stock, authorized shares (in shares)	5,000,000.0	5,000,000.0
Preferred stock, unissued shares (in shares)	5,000,000.0	5,000,000.0
Common stock, par value (in dollars per share)	$ 1	$ 1
Common stock, authorized (in shares)	200,000,000.0	200,000,000.0
Common stock, outstanding (in shares)	47,700,000	50,900,000
Treasury (in shares)	30,900,000	27,500,000