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Stock-Based Compensation - Schedule of Share-Based Payment Arrangement, Option and Stock Appreciation Rights, Activity (Details) - Share-based payment arrangement, option - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Total outstanding at beginning of period (in shares) 10,918  
Exercised (in shares) (4,702)  
Forfeited or expired (in shares) (90)  
Total outstanding at end of period (in shares) 6,126 10,918
Exercisable (in shares) 6,126  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Total outstanding at beginning of period -weighted average exercise price (in dollars per share) $ 20.10  
Exercised - weighted average exercise price (in dollars per share) 20.20  
Forfeited or expired - weighted average exercise price (in dollars per share) 21.68  
Total outstanding at end of the period - weighted average exercise price (in dollars per share) 20.01 $ 20.10
Exercisable - weighted average exercise price (in dollars per share) $ 20.01  
Weighted Average Remaining Contractual Term (Years) [Abstract]    
Total outstanding - weighted average remaining contractual term 4 years 2 months 12 days 5 years 1 month 6 days
Exercisable - weighted average remaining contractual term 4 years 2 months 12 days  
Aggregate Intrinsic Value (in millions)    
Total outstanding at beginning of period -aggregate intrinsic value $ 39.2  
Total outstanding at end of period - aggregate intrinsic value 113.5 $ 39.2
Exercisable - aggregate intrinsic value $ 113.5