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Stock-based Compensation and Defined Contribution Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Stock-based compensation expense | $ 20 | $ 17 | $ 12
Tax benefit | $ 5 | $ 4 | $ 3

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