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Share-Based Compensation and Other Benefit Programs - RSUs (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Performance-Based      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding, December 31, 2020 (in shares) 2,362,401    
Outstanding, December 31, 2020 (in usd per share) $ 17.59    
Granted (in shares) 911,550    
Granted (in usd per share) $ 23.05    
Performance adjustment (in shares) 814,529    
Performance adjustment (in usd per share) $ 0    
Vested (in shares) (1,083,080)    
Vested (in usd per share) $ 15.90    
Forfeited (in shares) (34,526)    
Forfeited (in usd per share) $ 20.94    
Outstanding, December 31, 2021 (in shares) 2,970,874 2,362,401  
Outstanding, December 31, 2021 (in usd per share) $ 18.28 $ 17.59  
Performance-Based | 2022 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Award period 3 years    
Performance-Based | 2021 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Award period   3 years  
Performance-Based | 2020 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Granted (in usd per share)   $ 20.09  
Award period     3 years
Performance-Based | 2019 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Granted (in usd per share)     $ 20.39
Time-Vested      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding, December 31, 2020 (in shares) 1,891,800    
Outstanding, December 31, 2020 (in usd per share) $ 16.16    
Granted (in shares) 551,093    
Granted (in usd per share) $ 25.13    
Performance adjustment (in shares) 0    
Performance adjustment (in usd per share) $ 0    
Vested (in shares) (647,038)    
Vested (in usd per share) $ 18.20    
Forfeited (in shares) (9,240)    
Forfeited (in usd per share) $ 22.43    
Outstanding, December 31, 2021 (in shares) 1,786,615 1,891,800  
Outstanding, December 31, 2021 (in usd per share) $ 18.16 $ 16.16  
Time-Vested | 2020 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Granted (in usd per share)   $ 20.61  
Time-Vested | 2019 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Granted (in usd per share)     $ 21.71
Minimum | Performance-Based | 2022 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award 0.00%    
Minimum | Performance-Based | 2021 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award   0.00%  
Minimum | Performance-Based | 2020 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award     0.00%
Maximum | Performance-Based | 2021 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award 200.00%    
Maximum | Performance-Based | 2020 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award   200.00%  
Maximum | Performance-Based | 2019 Award Year      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Payout percentage of target award     200.00%