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Shareholders' Equity - Plan Summary and Description (Details) - shares shares in Millions | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
SSAR Awards |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.3 | 0.5 | 1.3 | 2.3
2021 Plan |  |  |  |
Information pertaining to stock based awards |  |  |  |
Exercisable period | 7 years |  |  |
Common stock authorized for issuance (in shares) | 2.9 |  |  |
Remaining Shares of Common Stock Available for Future Issuance (in shares) | 1.9 |  |  |
2021 Plan | RSUs |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 2.6 |  |  |
2021 Plan | SSAR Awards |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.0 |  |  |
2020 Plan |  |  |  |
Information pertaining to stock based awards |  |  |  |
Remaining Shares of Common Stock Available for Future Issuance (in shares) | 0.0 |  |  |
2020 Plan | RSUs |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.3 |  |  |
2020 Plan | SSAR Awards |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.0 |  |  |
2016 and 2006 Plans |  |  |  |
Information pertaining to stock based awards |  |  |  |
Common stock subject to outstanding awards (in shares) | 3.2 |  |  |
2016 Plan |  |  |  |
Information pertaining to stock based awards |  |  |  |
Remaining Shares of Common Stock Available for Future Issuance (in shares) | 0.0 |  |  |
2016 Plan | RSUs |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.0 |  |  |
2016 Plan | SSAR Awards |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.3 |  |  |
2006 Plan |  |  |  |
Information pertaining to stock based awards |  |  |  |
Remaining Shares of Common Stock Available for Future Issuance (in shares) | 0.0 |  |  |
2006 Plan | RSUs |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.1 |  |  |
2006 Plan | SSAR Awards |  |  |  |
Information pertaining to stock based awards |  |  |  |
Outstanding awards issued (in shares) | 0.0 |  |  |

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