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Stock-based Compensation (Details) $ / shares in Units, $ in Thousands, shares in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 USD ($) Offering_Period $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Proceeds from issuance of common stock | $ | $ 229,000 | $ 79,000 | $ 87,000
Stock Incentive Plans |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Stock-based compensation cost | $ | 219,000 | 214,000 | 218,000
Tax benefit | $ | (33,000) | (32,000) | (35,000)
Stock-based compensation cost, net of tax | $ | $ 186,000 | $ 182,000 | 183,000
Number of shares reserved for issuance to recipient (in shares) | 264.0 |  |
Number of shares available for future grant (in shares) | 20.0 |  |
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Expiration from date of award (in years) | 10 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Outstanding at beginning of period | 24.2 |  |
Exercised | (5.3) |  |
Forfeited/expired | (0.7) |  |
Outstanding at end of period | 18.2 | 24.2 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Outstanding- weighted average exercise price at beginning of period (in dollars per share) | $ / shares | $ 40.42 |  |
Exercised | $ / shares | 28.63 |  |
Forfeited/expired | $ / shares | 38.93 |  |
Outstanding- weighted average price per share end of period (in dollars per share) | $ / shares | $ 43.88 | $ 40.42 |
Weighted Average Remaining Contractual Term (years) | 3 years 6 months |  |
Aggregate Intrinsic Value | $ | $ 55,800 |  |
Number of shares exercisable at the end of the period | 17.6 |  |
Weighted Average Exercise Price per Share, Exercisable at the end of the period | $ / shares | $ 44.59 |  |
Weighted Average Remaining Contractual Term (years), Exercisable at the end of the period | 3 years 4 months 24 days |  |
Aggregate Intrinsic Value, Exercisable at the end of the Period | $ | $ 46,200 |  |
Intrinsic value of stock options exercised during the period | $ | 43,000 | $ 315 | 7
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Unrecognized compensation cost, non vested awards at period end | $ | 0 |  |
Proceeds from issuance of common stock | $ | $ 229,000 | $ 79,000 | $ 87,000
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract] |  |  |
Expected term | 0 years | 0 years | 5 years 4 months 20 days
Expected volatility | 0.00% | 0.00% | 33.00%
Weighted average grant-date fair value of option | $ / shares | $ 0 | $ 0 | $ 5.41
Stock Options | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Vesting period | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract] |  |  |
Expected dividend yield | 2.25% | 1.37% | 1.28%
Risk-free interest rate | 1.35% | 2.27% | 1.79%
Stock Options | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract] |  |  |
Expected dividend yield | 3.88% | 2.29% | 1.72%
Risk-free interest rate | 2.51% | 2.84% | 2.14%
Exercise of stock options [Member] |  |  |
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Proceeds from issuance of common stock | $ | $ 148,000 | $ 4,000 |
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Number of shares reserved for issuance to recipient (in shares) | 104.0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions and Methodology [Abstract] |  |  |
Expected volatility | 46.00% | 69.00% | 68.00%
Expected dividend yield | 1.67% | 0.84% | 4.89%
Risk-free interest rate | 1.42% | 0.05% | 0.65%
Weighted average grant-date fair value of option | $ / shares | $ 5.63 | $ 5.01 | $ 3.18
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Shares available for future issuance through the plan | 31.0 |  |
Employee Stock Purchase Plan [Abstract] |  |  |
Percentage of earnings eligible employees may have withheld under the employee stock purchase plan | 10.00% |  |
Number of offering periods | Offering_Period | 4 |  |
Number of months each offering period lasts beginning January 1 and July 1 each year (in months) | 3 months |  |
Percentage of the lower of fair market value of the unit on the commencement date or the fair market value of unit on the last trading day of the offering period | 90.00% |  |
Number of shares sold through the plan (in shares) | 73.0 |  |
Restricted Stock And Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward] |  |  |
Nonvested shares at the beginning of the period | 22.7 |  |
Granted | 7.6 |  |
Vested | (7.3) |  |
Forfeited | (0.9) |  |
Non vested shares at the end of the period | 22.1 | 22.7 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward] |  |  |
Weighted Average Grant-Date Fair Value per Share, Non vested shares at the beginning of the period | $ / shares | $ 23.16 |  |
Granted | $ / shares | 31.40 | $ 20.94 | $ 16.53
Vested | $ / shares | 27.14 |  |
Forfeited | $ / shares | 23.89 |  |
Weighted Average Grant-Date Fair Value Per Share, Nonvested shares at the end of the period | $ / shares | $ 24.83 | $ 23.16 |
Total fair value of shares vested during the period | $ | $ 248,000 | $ 117,000 | $ 79,000
Restricted Stock |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Expiration from date of award (in years) | 5 years |  |
Share-based Payment Arrangement, Additional Disclosure [Abstract] |  |  |
Unrecognized compensation cost, non vested awards at period end | $ | $ 351,000 |  |
Weighted average period unrecognized compensation costs to be recognized (in years) | 3 years |  |

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- Definition Reflects the dating as to when the share-based award expires in relation to the grant date, as specified in the award agreement. + References No definition available. + Details
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- Definition Discount rate from fair value on offering date that participants pay for shares. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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 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 -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 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 -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 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 number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + 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)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + 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)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested 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)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + 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 (d)(2) -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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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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 (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the 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 (f)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + 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 (f)(2)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(3) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option 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)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + 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 (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + 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 (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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