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Employee Stock-based Compensation Plans - Employee Purchases and Aggregate Cost (Details) - Employee Stock Puchase Program - USD ($) shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items]
Employee stock purchases (in shares)	0.4	0.4	0.3
Aggregate cost	$ 13	$ 12	$ 10

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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Aggregate change in value for stock issued during the period as a result of employee stock purchase plan.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-SubTopic 10
-Topic 505
-Publisher FASB
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-Section S99
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-Subparagraph (SX 210.5-02(28))
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