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Share-Based Payments - Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Shares  
Outstanding, beginning (in shares) | shares 836
Granted (in shares) | shares 77
Exercised (in shares) | shares (60)
Outstanding, ending (in shares) | shares 853
Exercisable, December 31, 2023 (in shares) | shares 667
Weighted- Average Exercise Price per Share  
Outstanding, beginning (in dollars per share) | $ / shares $ 47.12
Granted (in dollars per share) | $ / shares 56.21
Exercised (in dollars per share) | $ / shares 24.61
Outstanding, ending (in dollars per share) | $ / shares 49.52
Exercisable, December 31, 2023 (in dollars per share) | $ / shares $ 47.25
Weighted- Average Remaining Life (Years)  
Weighted-Average Remaining Life (Years), Outstanding 5 years 4 months 24 days
Weighted-Average Remaining Life (Years), Exercisable 4 years 6 months
Aggregate Intrinsic Value  
Aggregate Intrinsic Value, Outstanding | $ $ 14.7
Aggregate Intrinsic Value, Exercisable | $ $ 13.0