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Stockholders' Equity - Common Stock Repurchased (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Equity [Abstract]    
Common stock repurchased (in shares) 0 9,533,392
Average purchase price per share (in dollars per share) $ 0 $ 18.46
Shares repurchased related to employee stock-based compensation plans (in shares) 949,431 934,602
Average purchase price per share (in dollars per share) $ 15.55 $ 18.55
Common shares issued (in shares) 2,523,744 2,594,817
Remaining authority under the share repurchase program $ 581