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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Preferred stock issued, beginning balance (in shares) | 22,000,000 |  |
Common stock issued, beginning balance (in shares) | 170,141,492 |  |
Treasury stock, beginning balance (in shares) | 24,654,858 |  |
Common stock outstanding, beginning balance (in shares) | 145,486,634 |  |
Stock options exercised (in shares) | 697,000 | 365,000 | 923,000
Preferred stock issued, ending balance (in shares) | 22,000,000 | 22,000,000 |
Common stock issued, ending balance (in shares) | 171,360,188 | 170,141,492 |
Treasury stock, ending balance (in shares) | 24,654,858 | 24,654,858 |
Common stock outstanding, ending balance (in shares) | 146,705,330 | 145,486,634 |
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) | 170,141,000 | 169,384,000 | 168,133,000
Common stock outstanding, beginning balance (in shares) | 145,486,000 | 145,010,000 | 148,040,000
Warrants exercised and common stock reissued (in shares) |  |  | 3,000
Issuance of common stock for earnout payment (in shares) |  |  | 125,000
Restricted share unit activity (in shares) | 527,000 | 399,000 | 355,000
Stock options exercised (in shares) | 692,000 | 358,000 | 896,000
Repurchase of common stock (in shares) |  | 281,000 | 4,400,000
Repurchase of stock (in shares) |  | (281,000) | (4,409,000)
Common stock issued, ending balance (in shares) | 171,360,000 | 170,141,000 | 169,384,000
Common stock outstanding, ending balance (in shares) | 146,705,000 | 145,486,000 | 145,010,000
Treasury Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Treasury stock, beginning balance (in shares) | 24,655,000 | 24,374,000 | 20,093,000
Warrants exercised and common stock reissued (in shares) |  |  | (3,000)
Issuance of common stock for earnout payment (in shares) |  |  | (125,000)
Repurchase of common stock (in shares) |  | 281,000 | 4,409,000
Treasury stock, ending balance (in shares) | 24,655,000 | 24,655,000 | 24,374,000

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- Definition Total number of common shares of an entity that have been sold or granted to shareholders (includes common shares that were issued, repurchased and remain in the treasury). These shares represent capital invested by the firm's shareholders and owners, and may be all or only a portion of the number of shares authorized. Shares issued include shares outstanding and shares held in the treasury. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 210 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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