Stockholders' Equity - Shares Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares Outstanding [Roll Forward]
Balance at beginning of year (in shares)	570,811,674	575,464,682	574,159,575
Stock options exercised (in shares)	1,170,693	346,992	1,305,107
Purchases of common stock (in shares)	0	(5,000,000)	0
Balance at end of year (in shares)	571,982,367	570,811,674	575,464,682