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Shareholders' Equity - Roll-forward of changes in issued and outstanding common shares (Details) - $ / shares shares in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common Shares: |  |  |  |
Shares issued, beginning of year |  | 588.3 | 583.3 | 579.0
Shares issued | [1] | 2.8 | 3.5 | 2.7
Restricted shares issued, net of cancellations |  | 0.8 | 1.5 | 1.6
Shares issued, end of year |  | 591.9 | 588.3 | 583.3
Common shares held in treasury, end of year |  | (218.5) | (217.9) | (204.4)
Common shares outstanding, end of year |  | 373.4 | 370.4 | 378.9
Authorized and Issued: |  |  |  |
Common shares authorized |  | 1,800.0 |  |
Common shares, par value per share |  | $ 0.0011 | $ 0.0011 |
Preferred shares authorized |  | 50.0 |  |
Preferred shares, par value per share |  | $ 0.01 |  |
[1] | Includes shares issued from the exercise of stock options and stock appreciation rights, the vesting of restricted share units and shares issued from the employee share purchase plan.

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