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Long-term Debt and Finance Leases - Senior Notes Outstanding with Early Redemption Features (Details)	12 Months Ended
	Dec. 31, 2023	Aug. 23, 2021	Dec. 02, 2020	May 24, 2019	Dec. 07, 2017	Aug. 02, 2016
6.625% Senior Notes due 2027
Debt Instrument [Line Items]
Interest rate, stated percentage	6.625%
Recourse Debt | 6.625% Senior Notes due 2027
Debt Instrument [Line Items]
Interest rate, stated percentage	6.625%					6.625%
Recourse Debt | 5.750% Senior Notes due 2028
Debt Instrument [Line Items]
Interest rate, stated percentage	5.75%				5.75%
Recourse Debt | 5.250% Senior Notes due 2029
Debt Instrument [Line Items]
Interest rate, stated percentage	5.25%			5.25%
Recourse Debt | 3.375% Senior Notes due 2029
Debt Instrument [Line Items]
Interest rate, stated percentage	3.375%		3.375%
Recourse Debt | Senior Notes due 2031
Debt Instrument [Line Items]
Interest rate, stated percentage			3.625%
Recourse Debt | Senior Notes, due 2032
Debt Instrument [Line Items]
Interest rate, stated percentage	3.875%	3.875%
Recourse Debt | Senior Notes | Low
Debt Instrument [Line Items]
Redemption percentage of principal	25.00%
Recourse Debt | Senior Notes | Maximum
Debt Instrument [Line Items]
Redemption percentage of principal	30.00%

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