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Common Stock and Treasury Stock - Class of Treasury Stock (Details) - shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 1,299,108 | 1,982,792 | 3,207,170
Stock Options |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 406,230 | 546,192 | 1,756,471
Long-term Incentive Program Performance Share Awards (LTIPs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 0 | 10,457 | 668,240
Total Shareholder Return Awards (TSRs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 212,210 | 782,588 | 199,413
Restricted Stock Units (RSUs) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 534,759 | 522,618 | 431,504
Employee Stock Purchase Plan (ESPP) |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 145,909 | 120,937 | 151,542

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