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Shareholders' Equity - Preferred Stock Activity (Details) - shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Class of Stock [Line Items]        
Shares, outstanding (in shares) 91,231,611 90,055,797 89,185,661  
Series A Convertible Preferred Stock        
Class of Stock [Line Items]        
Shares, outstanding (in shares) 58,542 63,589 67,323 71,967
Conversion of convertible preferred stock (shares) (5,047) (3,734) (4,644)  
Treasury stock, at cost        
Class of Stock [Line Items]        
Shares, outstanding (in shares) 7,186,521 7,186,521 7,186,521 7,186,521
Common stock        
Class of Stock [Line Items]        
Shares, outstanding (in shares)       88,103,440
Conversion of convertible preferred stock (shares) 504,596 373,416 464,431  
Issuance for share-based compensation plans (shares) 671,218 496,720 617,790