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Stockholders' Equity - Additional Information (Details)
$ / shares in Units, shares in Millions
 1 Months Ended 3 Months Ended 7 Months Ended 12 Months Ended
Dec. 31, 2022
USD ($)
shares
Jun. 30, 2023
shares
Jun. 30, 2022
USD ($)
Jun. 30, 2023
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Jan. 31, 2023
shares
Oct. 31, 2022
shares
Jan. 31, 2022
shares
Class of Stock [Line Items]                    
Common stock, shares authorized (in shares) 153.0       153.0 153.0        
Stock repurchase plan, number of remaining shares to be repurchased (in shares)         4.2          
Accelerated share repurchase, upfront payment | $ $ 225,000,000                  
Accelerated share repurchase, stock delivered (in shares) 1.1 0.4                
Percentage of shares delivered 0.80         0.80        
Shares repurchased (in shares)       1.5            
Average price of stock repurchased (in dollars per share) | $ / shares       $ 147.29            
Equity Distribution Program                    
Class of Stock [Line Items]                    
Proceeds from issuance of common stock | $     $ 500,000,000              
Stock program, maximum amount authorized | $         $ 0          
Voting Common Stock                    
Class of Stock [Line Items]                    
Common stock, shares authorized (in shares)         150.0          
Common Class B                    
Class of Stock [Line Items]                    
Common stock, shares authorized (in shares)         3.0          
Common Stock                    
Class of Stock [Line Items]                    
Shares repurchased (in shares)         3.0 4.5 3.5      
Average price of stock repurchased (in dollars per share) | $ / shares         $ 132.99 $ 144.45 $ 146.54      
Common Stock | January 2022 Program                    
Class of Stock [Line Items]                    
Stock repurchase program, number of shares authorized (in shares)                   2.0
Common Stock | October 2022 Program                    
Class of Stock [Line Items]                    
Stock repurchase program, number of shares authorized (in shares)                 3.0  
Common Stock | January 2023 Program                    
Class of Stock [Line Items]                    
Stock repurchase program, number of shares authorized (in shares)               3.3    
Preferred Stock                    
Class of Stock [Line Items]                    
Preferred stock, shares authorized (in shares)         5.0