Share-Based Compensation Plans - Schedule of Options Outstanding and Exercisable (Details) - Employee Stock Option shares in Thousands	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, shares (in shares) | shares	810
Options outstanding, weighted-average remaining contractual life	4 years 4 months 24 days
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 90
Options exercisable, shares (in shares) | shares	706
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 90
$75-$80
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, shares (in shares) | shares	177
Options outstanding, weighted-average remaining contractual life	1 year 7 months 6 days
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 76
Options exercisable, shares (in shares) | shares	177
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 76
$81-$89
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, shares (in shares) | shares	179
Options outstanding, weighted-average remaining contractual life	4 years 6 months
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 84
Options exercisable, shares (in shares) | shares	179
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 84
$90-$95
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, shares (in shares) | shares	286
Options outstanding, weighted-average remaining contractual life	6 years 7 months 6 days
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 93
Options exercisable, shares (in shares) | shares	182
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 93
$96-$123
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, shares (in shares) | shares	168
Options outstanding, weighted-average remaining contractual life	3 years 7 months 6 days
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 109
Options exercisable, shares (in shares) | shares	168
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 109