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Stock-Based Compensation - Summary of Option Activity (Details) - Employee Stock Option - $ / shares shares in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Options |  |  |  |
Outstanding at the beginning of the period | 1.8 | 1.7 | 1.6 |
Options granted | 0.2 | 0.2 | 0.4 |
Options exercised | (0.2) | (0.1) | (0.3) |
Outstanding at the end of the period | 1.8 | 1.8 | 1.7 | 1.6
Weighted-Average Exercise Price |  |  |  |
Outstanding at the beginning of the period (in dollars per share) | $ 52.01 | $ 51.28 | $ 51.07 |
Options granted (in dollars per share) | 68.79 | 52.17 | 44.9 |
Options exercised (in dollars per share) | 42.95 | 37.99 | 38.03 |
Outstanding at the end of the period (in dollars per share) | $ 54.58 | $ 52.01 | $ 51.28 | $ 51.07
Remaining Contractual Life |  |  |  |
Outstanding | 5 years 4 months 24 days | 5 years 8 months 12 days | 6 years 3 months 18 days | 6 years
Options granted | 0 years | 0 years | 0 years |
Options exercised | 0 years | 0 years | 0 years |

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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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