Shareholders' Equity - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Common stock authorized (in shares)	900,000,000
Preferred stock authorized (in shares)	30,000,000
Common stock reserved for exercise and future grants of restricted stock (in shares)	15,830,386	17,939,143	19,135,222
Common stock held in revocable trust (in shares)	1,426,883	1,426,883	1,426,883
Remaining number of shares authorized to be repurchased (in shares)	39,600,000
Proceeds from treasury stock issued	$ 0.0	$ 22.0	$ 11.7
2006 Employee Plan
Class of Stock [Line Items]
Common shares issuable or transferable (in shares)	71,100,000
Cumulative Preferred Stock
Class of Stock [Line Items]
Preferred stock authorized (in shares)	3,000,000