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Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Awarded share Outstanding ending balance | 708,380 |  |
Performance Stock Plan |  |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Weighted-average grant date fair value Outstanding beginning balance | $ 4.87 | $ 4.86 | $ 5.00
Weighted-average grant date fair value Vested | 4.81 | 4.73 | 6.06
Weighted-average grant date fair value Forfeited | 4.80 | 5.50 | 5.03
Weighted-average grant date fair value Outstanding ending balance | $ 4.88 | $ 4.87 | $ 4.86
Granted Share Outstanding Beginning Balance | 839,842 | 909,828 | 1,051,292
Granted Share Vested | (101,900) | (45,736) | (119,072)
Granted Share Forfeited | (29,562) | (24,250) | (22,392)
Granted Share Outstanding Ending Balance | 708,380 | 839,842 | 909,828
Awarded share Outstanding beginning balance | 839,842 | 909,828 | 1,051,292
Awarded share Vested | (101,900) | (45,736) | (119,072)
Awarded share Forfeited | (29,562) | (24,250) | (22,392)
Awarded share Outstanding ending balance | 708,380 | 839,842 | 909,828
2010 SIP and 2019 SIP |  |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Weighted-average grant date fair value Outstanding beginning balance | $ 21.59 | $ 19.89 | $ 18.10
Weighted-average grant date fair value Granted | 65.22 | 46.05 | 46.58
Weighted-average grant date fair value Awarded | 28.73 | 25.80 | 19.71
Weighted-average grant date fair value Vested | 20.09 | 15.73 | 15.97
Weighted-average grant date fair value Forfeited | 37.78 | 30.54 | 20.75
Weighted-average grant date fair value Outstanding ending balance | $ 25.01 | $ 21.59 | $ 19.89
Granted Share Outstanding Beginning Balance | 7,608,446 | 9,694,337 | 11,641,918
Granted Share Granted | 1,478,613 | 1,143,094 | 970,997
Granted Share Awarded | 470,793 | 310,147 | 497,082
Granted Share Vested | (2,179,476) | (3,223,964) | (3,059,619)
Granted Share Forfeited | (313,428) | (315,168) | (356,041)
Granted Share Outstanding Ending Balance | 7,064,948 | 7,608,446 | 9,694,337
Awarded share Outstanding beginning balance | 5,025,561 | 6,919,847 | 8,070,576
Awarded shares Granted | 693,802 | 204,826 | 148,015
Awarded share Awarded | 1,383,216 | 1,272,554 | 1,880,512
Awarded share Vested | (2,179,476) | (3,223,964) | (3,059,619)
Awarded share Forfeited | (168,454) | (147,702) | (119,637)
Awarded share Outstanding ending balance | 4,754,649 | 5,025,561 | 6,919,847
Shares not yet awarded Outstanding beginning balance | 2,582,885 | 2,774,490 | 3,571,342
Shares not yet awarded Granted | 784,811 | 938,268 | 822,982
Shares not yet awarded Awarded | (912,423) | (962,407) | (1,383,430)
Shares not yet awarded Forfeited | (144,974) | (167,466) | (236,404)
Shares not yet awarded Outstanding ending balance | 2,310,299 | 2,582,885 | 2,774,490

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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