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Share-based Compensation - Restricted shares and performance shares (Details) - RSAs, RSUs, PSAs and PSUs - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares      
Outstanding at the beginning of the period (in shares) 2,083 2,040 2,257
Granted (in shares) 1,253 1,031 1,054
Performance award adjustments (in shares) 85 159 (51)
Vested (in shares) (844) (1,014) (798)
Forfeited (in shares) (81) (133) (422)
Outstanding at the end of the period (in shares) 2,496 2,083 2,040
Weighted Average Grant Date Fair Value      
Outstanding at the beginning of the period (in dollars per share) $ 17.33 $ 12.73 $ 16.20
Granted (in dollars per share) 29.12 24.26 9.53
Performance award adjustments (in dollars per share) 14.03 18.38 30.94
Vested (in dollars per share) 15.00 15.50 16.01
Forfeited (in dollars per share) 20.18 15.08 14.87
Outstanding at the end of the period (in dollars per share) $ 23.83 $ 17.33 $ 12.73
Total fair value of shares vested $ 22.1 $ 22.8 $ 9.0
Minimum      
Weighted Average Grant Date Fair Value      
Vesting period 1 year    
Maximum      
Weighted Average Grant Date Fair Value      
Vesting period 4 years