Consolidated Balance Sheets (Parenthetical) - $ / shares shares in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shareholders’ equity:
Common stock, par value (in dollars per share)	$ 0.33	$ 0.33	$ 0.33
Common stock, shares outstanding (in shares)	254.5	258.9	261.1