Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Awarded share Outstanding ending balance	708,380
Performance Stock Plan
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Weighted-average grant date fair value Outstanding beginning balance	$ 4.87	$ 4.86	$ 5.00
Weighted-average grant date fair value Vested	4.81	4.73	6.06
Weighted-average grant date fair value Forfeited	4.80	5.50	5.03
Weighted-average grant date fair value Outstanding ending balance	$ 4.88	$ 4.87	$ 4.86
Granted Share Outstanding Beginning Balance	839,842	909,828	1,051,292
Granted Share Vested	(101,900)	(45,736)	(119,072)
Granted Share Forfeited	(29,562)	(24,250)	(22,392)
Granted Share Outstanding Ending Balance	708,380	839,842	909,828
Awarded share Outstanding beginning balance	839,842	909,828	1,051,292
Awarded share Vested	(101,900)	(45,736)	(119,072)
Awarded share Forfeited	(29,562)	(24,250)	(22,392)
Awarded share Outstanding ending balance	708,380	839,842	909,828
2010 SIP and 2019 SIP
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Weighted-average grant date fair value Outstanding beginning balance	$ 21.59	$ 19.89	$ 18.10
Weighted-average grant date fair value Granted	65.22	46.05	46.58
Weighted-average grant date fair value Awarded	28.73	25.80	19.71
Weighted-average grant date fair value Vested	20.09	15.73	15.97
Weighted-average grant date fair value Forfeited	37.78	30.54	20.75
Weighted-average grant date fair value Outstanding ending balance	$ 25.01	$ 21.59	$ 19.89
Granted Share Outstanding Beginning Balance	7,608,446	9,694,337	11,641,918
Granted Share Granted	1,478,613	1,143,094	970,997
Granted Share Awarded	470,793	310,147	497,082
Granted Share Vested	(2,179,476)	(3,223,964)	(3,059,619)
Granted Share Forfeited	(313,428)	(315,168)	(356,041)
Granted Share Outstanding Ending Balance	7,064,948	7,608,446	9,694,337
Awarded share Outstanding beginning balance	5,025,561	6,919,847	8,070,576
Awarded shares Granted	693,802	204,826	148,015
Awarded share Awarded	1,383,216	1,272,554	1,880,512
Awarded share Vested	(2,179,476)	(3,223,964)	(3,059,619)
Awarded share Forfeited	(168,454)	(147,702)	(119,637)
Awarded share Outstanding ending balance	4,754,649	5,025,561	6,919,847
Shares not yet awarded Outstanding beginning balance	2,582,885	2,774,490	3,571,342
Shares not yet awarded Granted	784,811	938,268	822,982
Shares not yet awarded Awarded	(912,423)	(962,407)	(1,383,430)
Shares not yet awarded Forfeited	(144,974)	(167,466)	(236,404)
Shares not yet awarded Outstanding ending balance	2,310,299	2,582,885	2,774,490