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Stock-Based Compensation Plans - Employee Stock Purchase Plan (Details) - Employee Stock Purchase Plan - USD ($) $ / shares in Units, shares in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-Based Compensation Plans - Disclosures |  |  |
Share purchases under employee stock purchase plan (in shares) | 0.5 | 0.6 | 1.0
Weighted-average fair value of discount on employee stock purchase plan (in dollars per share) | $ 7.49 | $ 7.31 | $ 15.64
Shares available to be issued under employee stock purchase plan (in shares) | 3.0 |  |
Maximum value of company common stock that can be purchased by an employee per year | $ 25,000 |  |
Employee purchase price as a percent of fair market value (as a percent) | 90.00% | 85.00% |
Intrinsic value from shares settled | $ 3,600,000 | $ 4,100,000 | $ 15,300,000
Cash received from shares issued | 32,800,000 | 37,300,000 | 46,500,000
Tax benefits realized from the settlement of share-based payment arrangements | $ 300,000 | $ 800,000 | $ 1,300,000

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