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Shareholders' Equity and Other Comprehensive Income - Changes in Shares by Class (Details) - shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Preferred stock issued, beginning balance (in shares) | 22,000,000 |  |
Common stock issued, beginning balance (in shares) | 169,383,758 |  |
Treasury stock, beginning balance (in shares) | 24,373,672 |  |
Common stock outstanding, beginning balance (in shares) | 145,010,086 |  |
Stock options exercised (in shares) | 365,000 | 923,000 | 572,000
Preferred stock issued, ending balance (in shares) | 22,000,000 | 22,000,000 |
Common stock issued, ending balance (in shares) | 170,141,492 | 169,383,758 |
Treasury stock, ending balance (in shares) | 24,654,858 | 24,373,672 |
Common stock outstanding, ending balance (in shares) | 145,486,634 | 145,010,086 |
Preferred Shares Issued |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Preferred stock issued, beginning balance (in shares) | 22,000,000 | 22,000,000 | 22,000,000
Preferred stock issued, ending balance (in shares) | 22,000,000 | 22,000,000 | 22,000,000
Preferred Shares Issued | Series D Preferred Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Preferred stock issued, beginning balance (in shares) | 8,000,000 | 8,000,000 | 8,000,000
Preferred stock issued, ending balance (in shares) | 8,000,000 | 8,000,000 | 8,000,000
Preferred Shares Issued | Series E Preferred Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Preferred stock issued, beginning balance (in shares) | 14,000,000 | 14,000,000 | 14,000,000
Preferred stock issued, ending balance (in shares) | 14,000,000 | 14,000,000 | 14,000,000
Common Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Common stock issued, beginning balance (in shares) | 169,384,000 | 168,133,000 | 166,801,000
Common stock outstanding, beginning balance (in shares) | 145,010,000 | 148,040,000 | 147,158,000
Issuance of common stock for earnout payment (in shares) |  |  | 379,000
Warrants exercised and common stock reissued (in shares) |  | 3,000 |
Common stock reissued for earnout payment (in shares) |  | 125,000 |
Restricted share unit activity (in shares) | 399,000 | 355,000 | 389,000
Stock options exercised (in shares) | 358,000 | 896,000 | 564,000
Repurchase of common stock (in shares) | 281,000 | 4,400,000 | 450,000
Repurchase of stock (in shares) | (281,000) | (4,409,000) | (450,000)
Common stock issued, ending balance (in shares) | 170,141,000 | 169,384,000 | 168,133,000
Common stock outstanding, ending balance (in shares) | 145,486,000 | 145,010,000 | 148,040,000
Treasury Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Treasury stock, beginning balance (in shares) | 24,374,000 | 20,093,000 | 19,643,000
Warrants exercised and common stock reissued (in shares) |  | (3,000) |
Common stock reissued for earnout payment (in shares) |  | (125,000) |
Repurchase of common stock (in shares) | 281,000 | 4,409,000 | 450,000
Treasury stock, ending balance (in shares) | 24,655,000 | 24,374,000 | 20,093,000

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- Definition Total number of nonredeemable preferred shares (or preferred stock redeemable solely at the option of the issuer) issued to shareholders (includes related preferred shares that were issued, repurchased, and remain in the treasury). May be all or portion of the number of preferred shares authorized. Excludes preferred shares that are classified as debt. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=126973232&loc=SL123496158-112644 + Details
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