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Long-term Debt and Finance Leases - Senior Notes Redemption Period (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2021
Aug. 23, 2021
Dec. 02, 2020
May 24, 2019
Dec. 07, 2017
Aug. 02, 2016
6.625% Senior Notes due 2027              
Debt Instrument [Line Items]              
Redemption Percentage   103.313%          
Interest rate, stated percentage 6.625%            
Senior Notes, due 2032 | Redemption Period Prior to August 15 2024              
Debt Instrument [Line Items]              
Redemption Percentage 103.875%            
Outstanding principal after redemption, percentage (at least) 50.00%            
Senior Notes, due 2032 | Redemption Period Prior to February 15 2027              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Premium percentage of principal amount of note discount factor (as percent) 1.00%            
Senior Notes, due 2032 | 2027              
Debt Instrument [Line Items]              
Redemption Percentage (If Sustainability Performance Target has been satisfied and confirmed by External Verifier) 101.938%            
Redemption Percentage (If Sustainability Performance Target has not been satisfied and/or confirmed by External Verifier) 102.188%            
Senior Notes, due 2032 | 2028              
Debt Instrument [Line Items]              
Redemption Percentage (If Sustainability Performance Target has been satisfied and confirmed by External Verifier) 101.292%            
Redemption Percentage (If Sustainability Performance Target has not been satisfied and/or confirmed by External Verifier) 101.458%            
Senior Notes, due 2032 | 2029              
Debt Instrument [Line Items]              
Redemption Percentage (If Sustainability Performance Target has been satisfied and confirmed by External Verifier) 100.646%            
Redemption Percentage (If Sustainability Performance Target has not been satisfied and/or confirmed by External Verifier) 100.729%            
Senior Notes, due 2032 | 2030 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage (If Sustainability Performance Target has been satisfied and confirmed by External Verifier) 100.00%            
Redemption Percentage (If Sustainability Performance Target has not been satisfied and/or confirmed by External Verifier) 100.00%            
Recourse Debt | 6.625% Senior Notes due 2027              
Debt Instrument [Line Items]              
Interest rate, stated percentage 6.625%           6.625%
Recourse Debt | 6.625% Senior Notes due 2027 | July 15, 2023 to July 14, 2024              
Debt Instrument [Line Items]              
Redemption Percentage 101.104%            
Recourse Debt | 6.625% Senior Notes due 2027 | July 15, 2024 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Recourse Debt | 5.750% Senior Notes due 2028              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.75%         5.75%  
Recourse Debt | 5.750% Senior Notes due 2028 | January 15, 2024 to January 14, 2025              
Debt Instrument [Line Items]              
Redemption Percentage 101.917%            
Recourse Debt | 5.750% Senior Notes due 2028 | January 15, 2025 to January 14, 2026              
Debt Instrument [Line Items]              
Redemption Percentage 100.958%            
Recourse Debt | 5.750% Senior Notes due 2028 | January 15, 2026 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Recourse Debt | 5.250% Senior Notes due 2029              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.25%       5.25%    
Recourse Debt | 5.250% Senior Notes due 2029 | Treasury Rate              
Debt Instrument [Line Items]              
Treasury rate redemption (as percentage) 0.50%            
Recourse Debt | 5.250% Senior Notes due 2029 | Redemption Period Prior to June 15, 2024              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Premium percentage of principal amount of note discount factor (as percent) 1.00%            
Present value of note (as percentage) 1.02625            
Recourse Debt | 5.250% Senior Notes due 2029 | June 15, 2024 to June 14, 2025              
Debt Instrument [Line Items]              
Redemption Percentage 102.625%            
Recourse Debt | 5.250% Senior Notes due 2029 | June 15, 2025 to June 14, 2026              
Debt Instrument [Line Items]              
Redemption Percentage 101.75%            
Recourse Debt | 5.250% Senior Notes due 2029 | June 15, 2026 to June 14, 2027              
Debt Instrument [Line Items]              
Redemption Percentage 100.875%            
Recourse Debt | 5.250% Senior Notes due 2029 | June 15, 2027 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Recourse Debt | 3.375% Senior Notes Due 2029              
Debt Instrument [Line Items]              
Interest rate, stated percentage 3.375%     3.375%      
Recourse Debt | 3.375% Senior Notes Due 2029 | February 15, 2024 to February 14, 2025              
Debt Instrument [Line Items]              
Redemption Percentage 101.688%            
Recourse Debt | 3.375% Senior Notes Due 2029 | February 15, 2025 to February 14, 2026              
Debt Instrument [Line Items]              
Redemption Percentage 100.844%            
Recourse Debt | 3.375% Senior Notes Due 2029 | February 15, 2026 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Recourse Debt | Senior Notes due 2031              
Debt Instrument [Line Items]              
Interest rate, stated percentage       3.625%      
Recourse Debt | Senior Notes due 2031 | Treasury Rate              
Debt Instrument [Line Items]              
Treasury rate redemption (as percentage) 0.50%            
Recourse Debt | Senior Notes due 2031 | Redemption Period Prior to February 15, 2026              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Premium percentage of principal amount of note discount factor (as percent) 1.00%            
Present value of note (as percentage) 1.01813            
Recourse Debt | Senior Notes due 2031 | February 15, 2026 to February 14, 2027              
Debt Instrument [Line Items]              
Redemption Percentage 101.813%            
Recourse Debt | Senior Notes due 2031 | February 15, 2027 to February 14, 2028              
Debt Instrument [Line Items]              
Redemption Percentage 101.208%            
Recourse Debt | Senior Notes due 2031 | February 15, 2028 to February 14, 2029              
Debt Instrument [Line Items]              
Redemption Percentage 100.604%            
Recourse Debt | Senior Notes due 2031 | February 15, 2029 and thereafter              
Debt Instrument [Line Items]              
Redemption Percentage 100.00%            
Recourse Debt | Senior Notes, due 2032              
Debt Instrument [Line Items]              
Redemption Percentage 40.00%            
Interest rate, stated percentage 3.875%   3.875%        
Recourse Debt | Senior Notes, due 2032 | Treasury Rate              
Debt Instrument [Line Items]              
Treasury rate redemption (as percentage) 0.50%