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Debt and Credit Arrangements - Fair Value Disclosure (Details) | Dec. 31, 2022 | Dec. 31, 2021
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Senior Notes |  |
Debt Instrument |  |
Debt instrument percentage over par value | 101.00% |
Unsecured Debt |  |
Debt Instrument |  |
Debt instrument percentage over par value | 103.00% |
Convertible Notes, due 2024 | Convertible Debt |  |
Debt Instrument |  |
Debt instrument percentage over par value | 201.00% | 276.00%

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