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Stockholders' Equity (Details)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
vote
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
shares
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Common stock shares authorized (in shares) | shares 500,000,000 500,000,000  
Common stock par or stated value (in dollars per share) | $ / shares $ 0.01 $ 0.01  
Preferred stock authorized shares (in shares) | shares 10,000,000    
Preferred stock par or stated value (in dollars per share) | $ / shares $ 0.01    
Common stock, voting rights per share held | vote 1    
Treasury stock repurchased (in shares) | shares 100,000 18,600,000 19,500,000
Treasury stock repurchased | $ $ 5.0 $ 621.2 $ 801.4
Performance-based Restricted Stock Units      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Treasury stock repurchased | $ 31.0 $ 46.2 $ 14.9
February 2017 Program      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Remaining authorized repurchase amount | $ $ 774.5