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Shareholders' Equity - Schedule of Common Stock Outstanding Roll Forward (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common Stock |  |  |
Common stock, beginning balance (in shares) | 1,012,261,159 | 1,012,261,159 | 1,012,261,159
Common stock, ending balance (in shares) | 1,012,261,159 | 1,012,261,159 | 1,012,261,159
Treasury Stock |  |  |
Treasury stock, beginning balance (in shares) | 414,671,383 | 423,343,707 | 429,941,021
Treasury stock, issued (in shares) | (13,651,201) | (8,877,047) | (6,904,556)
Treasury stock, acquired (in shares) | 1,725,954 | 204,723 | 307,242
Treasury stock, ending balance (in shares) | 402,746,136 | 414,671,383 | 423,343,707

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