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Leases - Narrative (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
optionsToRenew
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Debt Instrument [Line Items]      
Operating leases weighted average remaining lease term 4 years 3 months 18 days    
Options to renew | optionsToRenew 1    
Weighted average discount rate, percent 4.20%    
Operating lease costs | $ $ 137 $ 142 $ 139
LIBOR | Line of Credit | Revolving Credit Facility | Revolving Credit Facility, due April 2022      
Debt Instrument [Line Items]      
Basis spread on variable rate (as percent) 1.40%    
Minimum      
Debt Instrument [Line Items]      
Operating lease, term 1 year    
Maximum      
Debt Instrument [Line Items]      
Operating lease, term 10 years