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Stock-Based Awards and Other Equity Instruments - Performance Share Units (Details) - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
By Grant Year      
Shares probable to be issued (in shares) 277    
Shares not subject to the achievement of minimum performance thresholds (in shares) 0    
Shares that could be issued if maximum performance thresholds are met (in shares) 875    
Weighted Average Grant-Date Fair Value      
Shares probable to be issued (in usd per share) $ 99.84    
Shares not subject to the achievement of minimum performance thresholds (in usd per share) 0    
Shares that could be issued if maximum performance thresholds are met (in usd per share) $ 151.44    
PSUs      
By Grant Year      
Shares probable to be issued (in shares) 277 0 0
Shares not subject to the achievement of minimum performance thresholds (in shares) 0 0 0
Shares that could be issued if maximum performance thresholds are met (in shares) 444 183 248