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Stock-Based Compensation Plans - Employee Stock Purchase Plan (Details) - Employee Stock Purchase Plan - USD ($)
$ / shares in Units, shares in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-Based Compensation Plans - Disclosures      
Share purchases under employee stock purchase plan (in shares) 0.5 0.6 1.0
Weighted-average fair value of discount on employee stock purchase plan (in dollars per share) $ 7.49 $ 7.31 $ 15.64
Shares available to be issued under employee stock purchase plan (in shares) 3.0    
Maximum value of company common stock that can be purchased by an employee per year $ 25,000    
Employee purchase price as a percent of fair market value (as a percent) 90.00% 85.00%  
Intrinsic value from shares settled $ 3,600,000 $ 4,100,000 $ 15,300,000
Cash received from shares issued 32,800,000 37,300,000 46,500,000
Tax benefits realized from the settlement of share-based payment arrangements $ 300,000 $ 800,000 $ 1,300,000