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Stockholders' Equity - Shares Outstanding (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares Outstanding [Roll Forward] |  |  |
Balance at beginning of year (in shares) | 570,811,674 | 575,464,682 | 574,159,575
Stock options exercised (in shares) | 1,170,693 | 346,992 | 1,305,107
Purchases of common stock (in shares) | 0 | (5,000,000) | 0
Balance at end of year (in shares) | 571,982,367 | 570,811,674 | 575,464,682

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