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Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |  |
Awarded share Outstanding ending balance | 167,772 |  |
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 | $ 4.88 | $ 4.87 | $ 4.86
Weighted-average grant date fair value Vested | 4.69 | 4.81 | 4.73
Weighted-average grant date fair value Forfeited | 5.25 | 4.80 | 5.50
Weighted-average grant date fair value Outstanding ending balance | $ 5.47 | $ 4.88 | $ 4.87
Granted Share Outstanding Beginning Balance | 708,380 | 839,842 | 909,828
Granted Share Vested | (532,282) | (101,900) | (45,736)
Granted Share Forfeited | (8,326) | (29,562) | (24,250)
Granted Share Outstanding Ending Balance | 167,772 | 708,380 | 839,842
Awarded share Outstanding beginning balance | 708,380 | 839,842 | 909,828
Awarded share Vested | (532,282) | (101,900) | (45,736)
Awarded share Forfeited | (8,326) | (29,562) | (24,250)
Awarded share Outstanding ending balance | 167,772 | 708,380 | 839,842
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 | $ 25.01 | $ 21.59 | $ 19.89
Weighted-average grant date fair value Granted | 56.39 | 65.22 | 46.05
Weighted-average grant date fair value Awarded | 47.60 | 28.73 | 25.80
Weighted-average grant date fair value Vested | 25.46 | 20.09 | 15.73
Weighted-average grant date fair value Forfeited | 49.37 | 37.78 | 30.54
Weighted-average grant date fair value Outstanding ending balance | $ 27.50 | $ 25.01 | $ 21.59
Granted Share Outstanding Beginning Balance | 7,064,948 | 7,608,446 | 9,694,337
Granted Share Granted | 1,558,826 | 1,478,613 | 1,143,094
Granted Share Awarded | 330,310 | 470,793 | 310,147
Granted Share Vested | (1,561,615) | (2,179,476) | (3,223,964)
Granted Share Forfeited | (271,154) | (313,428) | (315,168)
Granted Share Outstanding Ending Balance | 7,121,315 | 7,064,948 | 7,608,446
Awarded share Outstanding beginning balance | 4,754,649 | 5,025,561 | 6,919,847
Awarded shares Granted | 235,738 | 693,802 | 204,826
Awarded share Awarded | 977,447 | 1,383,216 | 1,272,554
Awarded share Vested | (1,561,615) | (2,179,476) | (3,223,964)
Awarded share Forfeited | (129,889) | (168,454) | (147,702)
Awarded share Outstanding ending balance | 4,276,330 | 4,754,649 | 5,025,561
Shares not yet awarded Outstanding beginning balance | 2,310,299 | 2,582,885 | 2,774,490
Shares not yet awarded Granted | 1,323,088 | 784,811 | 938,268
Shares not yet awarded Awarded | (647,137) | (912,423) | (962,407)
Shares not yet awarded Forfeited | (141,265) | (144,974) | (167,466)
Shares not yet awarded Outstanding ending balance | 2,844,985 | 2,310,299 | 2,582,885

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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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