Shareholders' Equity - Roll-forward of changes in issued and outstanding common shares (Details) - $ / shares shares in Millions		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Common Shares:
Shares issued, beginning of year		588.3	583.3	579.0
Shares issued	[1]	2.8	3.5	2.7
Restricted shares issued, net of cancellations		0.8	1.5	1.6
Shares issued, end of year		591.9	588.3	583.3
Common shares held in treasury, end of year		(218.5)	(217.9)	(204.4)
Common shares outstanding, end of year		373.4	370.4	378.9
Authorized and Issued:
Common shares authorized		1,800.0
Common shares, par value per share		$ 0.0011	$ 0.0011
Preferred shares authorized		50.0
Preferred shares, par value per share		$ 0.01

[1] Includes shares issued from the exercise of stock options and stock appreciation rights, the vesting of restricted share units and shares issued from the employee share purchase plan.