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Pension and Other Postretirement Benefits - Weighted Average Discount Rates used to Calculate the Benefit Obligations (Details) - Other Postretirement Benefits
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]      
Benefit obligations 5.00% 5.80% 3.40%
Service cost 5.30% 7.80% 5.90%
Interest cost 4.90% 5.70% 3.60%