Shareholders' Equity and Share-Based Compensation - Outstanding Stock Units and Stock Options under Comprehensive Plan (Details) - shares	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options (in shares)	1,402,514	1,194,352
Total (in shares)	2,355,174	2,038,920	1,909,993
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
CSUs related to deferred compensation for Directors and Employees	925,230	816,759	834,981
RSUs related to incentive compensation (in shares)	925,230	816,759	834,981
Restricted stock units | Director
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
CSUs related to deferred compensation for Directors and Employees	14,458	15,372	26,313
RSUs related to incentive compensation (in shares)	14,458	15,372	26,313
Restricted stock units | Employees Member
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
CSUs related to deferred compensation for Directors and Employees	12,972	12,437	16,571
RSUs related to incentive compensation (in shares)	12,972	12,437	16,571
Equity Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options (in shares)	1,402,514	1,194,352	1,032,128