Annual report pursuant to Section 13 and 15(d)

Capital Structure and Per Share Data - Additional Information (Details)

v3.24.0.1
Capital Structure and Per Share Data - Additional Information (Details)
 12 Months Ended
Dec. 31, 2023
USD ($)
Vote
Class
$ / shares
shares
Dec. 31, 2022
USD ($)
shares
Capital Structure And Per Share Data [Line Items]    
Preferred stock shares authorized 3,000,000  
Preferred stock, issued 0  
Number of classes of common stock | Class 2  
Class A convertible preferred stock    
Capital Structure And Per Share Data [Line Items]    
Preferred stock shares authorized 300,000  
Preferred Stock par value (in dollars per share) | $ / shares $ 0.10  
Preferred stock shares redeemed 13,801.5  
Preferred stock redemption price (in dollars per share) | $ / shares $ 1,000  
Series I Preferred Stock    
Capital Structure And Per Share Data [Line Items]    
Preferred stock authorized (in shares) 100,000  
Series II Preferred Stock    
Capital Structure And Per Share Data [Line Items]    
Preferred stock authorized (in shares) 100,000  
Series III Preferred Stock    
Capital Structure And Per Share Data [Line Items]    
Preferred stock authorized (in shares) 100,000  
Class A common stock    
Capital Structure And Per Share Data [Line Items]    
Common stock, shares authorized 100,000,000  
Common stock, par value (in dollars per share) | $ / shares $ 0.01  
Common stock, number of votes per share | Vote 1  
Number of shares of class A common stock issuable against each share of class B common stock 1  
Authorized amount expend on repurchase of shares | $   $ 1,500,000,000
Common stock class A, share repurchase price per share (in dollars per share) | $ / shares $ 25.80  
Remaining authorized amount | $ $ 286,700,000  
Treasury Stock, Common, Shares 46,686,608 43,370,598
Class B common stock    
Capital Structure And Per Share Data [Line Items]    
Common stock, shares authorized 30,000,000  
Common stock, par value (in dollars per share) | $ / shares $ 0.01  
Common stock, number of votes per share | Vote 10