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Stock-based Compensation and Other Stock Plans - Schedule of Changes in Non-Vested Cash-Settled SARs (Details) - Stock Appreciation Rights (SARs)
shares in Thousands
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning balance (in shares) | shares 2
Granted (in shares) | shares 1
Vested (in shares) | shares (1)
Ending balance (in shares) | shares 2
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value  
Beginning balance (in dollars per share) | $ / shares $ 53.24
Granted (in dollars per share) | $ / shares 51.86
Vested (in dollars per share) | $ / shares 79.48
Ending balance (in dollars per share) | $ / shares $ 59.29