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Common Stock and Treasury Stock - Schedule of Treasury Shares Issued by Award Type (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 1,150,111 | 1,299,108 | 1,982,792
Stock options |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 343,093 | 406,230 | 546,192
LTIP performance shares |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 0 | 0 | 10,457
TSRs |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 0 | 212,210 | 782,588
RSUs |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 666,026 | 534,759 | 522,618
ESPP |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total treasury shares issued (in shares) | 140,992 | 145,909 | 120,937

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- Definition Number of treasury shares or units reissued. Excludes reissuance of shares or units in treasury for award under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -SubTopic 10 -Topic 505 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481112/505-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 505 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 210 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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