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Employee and Agent Benefits - Defined Contribution and Deferred Compensation Plans (Details) - USD ($)
shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Contribution Plan Disclosures      
Number of common stock shares allocated participants in the employee stock ownership plan 1.7 1.8  
Fair value of employee stock ownership plan $ 135,600,000 $ 148,400,000  
Pension benefits | Qualified benefit plans      
Defined Contribution Plan Disclosures      
Maximum amount of compensation eligible participants could contribute to defined contribution plans 22,500    
Amount contributed by the employer to defined contribution plans 74,100,000 70,300,000 $ 60,500,000
Pension benefits | Nonqualified benefit plans      
Defined Contribution Plan Disclosures      
Amount contributed by the employer to defined contribution plans $ 3,100,000 $ 3,900,000 $ 3,400,000
Grandfathered Choice Participant | Qualified benefit plans      
Defined Contribution Plan Disclosures      
Eligibility age to be able to elect to retain benefits in defined contribution plan 47 years    
Minimum years of service to be able to elect to retain benefits in defined contribution plan 10 years    
Contribution rate of employer to match participant's contributions (as a percent) 50.00%    
Maximum percent of participant's compensation matched by employer (as a percent) 3.00%    
Grandfathered Choice Participant | Nonqualified benefit plans      
Defined Contribution Plan Disclosures      
Contribution rate of employer to match participant's contributions (as a percent) 50.00%    
Maximum percent of participant's compensation matched by employer (as a percent) 3.00%    
All other participants | Qualified benefit plans      
Defined Contribution Plan Disclosures      
Contribution rate of employer to match participant's contributions (as a percent) 75.00%    
Maximum percent of participant's compensation matched by employer (as a percent) 6.00%    
All other participants | Nonqualified benefit plans      
Defined Contribution Plan Disclosures      
Contribution rate of employer to match participant's contributions (as a percent) 75.00%    
Maximum percent of participant's compensation matched by employer (as a percent) 6.00%