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Shareholders' Equity (Stock Option Plans) (Details) - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Beginning balance (in shares) 18,770 19,084 18,495
Granted (in shares) 1,871 2,215 3,323
Exercised (in shares) (2,148) (1,537) (1,719)
Expired or canceled (in shares) (1,073) (992) (1,015)
Ending balance (in shares) 17,420 18,770 19,084
Weighted Average Price      
Beginning balance (in USD per share) $ 56.52 $ 54.35 $ 51.15
Granted (in USD per share) 62.01 61.74 60.48
Exercised (in USD per share) 45.11 35.03 29.73
Expired or canceled (in USD per share) 59.79 59.52 57.92
Ending balance (in USD per share) $ 58.31 $ 56.52 $ 54.35
Exercisable (in shares) 6,759 9,043  
Exercisable, Weighted Average Price (in USD per share) $ 54.95    
Available for future grant (in shares) 8,509