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Capital Stock - Schedule of Common Stock Outstanding (Details) - shares shares in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common stock: |  |  |
Balance, beginning of year | 110.4 | 110.1 | 109.7
Activity under stock plans | 0.4 | 0.3 | 0.4
Balance, end of year | 110.8 | 110.4 | 110.1
Treasury stock: |  |  |
Balance, beginning of year | 26.2 | 26.1 | 26.1
Repurchased | 0.5 | 0.1 | 0.0
Balance, end of year | 26.7 | 26.2 | 26.1
Common stock outstanding | 84.1 | 84.2 | 84.0

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- Definition Total number of common shares of an entity that have been sold or granted to shareholders (includes common shares that were issued, repurchased and remain in the treasury). These shares represent capital invested by the firm's shareholders and owners, and may be all or only a portion of the number of shares authorized. Shares issued include shares outstanding and shares held in the treasury. + References Reference 1: 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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