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Compensation Plans and Programs - Schedule of Weighted Average Option Assumptions (Details) - Stock Options
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected term (in years) 7 years 6 months 8 years 7 years 8 months 12 days
Expected volatility 32.80% 36.30% 35.70%
Risk-free interest rate 3.60% 2.20% 1.30%
Dividend yield 1.90% 2.30% 1.90%