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Share-Based Compensation Plans - Summary of REV Performance Share Unit Grants (Details) - REV Performance Shares
shares in Thousands
9 Months Ended
Sep. 30, 2023
$ / shares
shares
Shares  
Outstanding, beginning of period (in shares) | shares 32
Shares Awarded (in shares) | shares 36
Forfeited | shares (2)
Outstanding, end of period (in shares) | shares 66
Weighted Average Grant Date Fair Value Per Share  
Outstanding, beginning of period (in usd per share) | $ / shares $ 86.77
Granted (in usd per share) | $ / shares 100.69
Forfeited | $ / shares 91.12
Outstanding, end of period (in usd per share) | $ / shares $ 94.19