Common Stock, Preferred Stock and Equity Plans - Performance-based RSUs (PSUs) (Details) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2022 USD ($) installment $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($)
Performance-based RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Potential awards, percent of target shares, minimum	0.00%
Potential awards, percent of target shares, maximum	200.00%
Number of installments | installment	3
Number of Units
Beginning of the period (in shares) | shares	1,078
Granted (in shares) | shares	608
Vested (in shares) | shares	(426)
Cancelled (in shares) | shares	(33)
End of the period (in shares) | shares	1,227	1,078
Weighted-average Grant-date Fair Value
Beginning of the period (in dollars per share) | $ / shares	$ 215.85
Granted (in dollars per share) | $ / shares	247.26
Vested (in dollars per share) | $ / shares	203.75
Cancelled (in dollars per share) | $ / shares	222.16
End of the period (in dollars per share) | $ / shares	$ 226.75	$ 215.85
Restricted stock vested in period, total fair value | $	$ 98.7	$ 92.2	$ 138.5
Financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of installments | installment	3
Vesting period	3 years
Tranche one | Performance-based RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percent of awards in tranche	50.00%
Performance period	1 year
Vesting period	3 years
Tranche one | Financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%
Tranche two | Performance-based RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percent of awards in tranche	50.00%
Performance period	3 years
Vesting period	3 years
Tranche two | Financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%
Tranche three | Financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%