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Earnings Per Share - Share-based Compensation (Details) - shares | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total exercised or released (in shares) | 1,500,604 | 1,071,698
Options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Options exercised (in shares) | 55,993 | 83,424
Restricted Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Non-options exercised (in shares) | 877,087 | 915,921
Performance Share Units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Non-options exercised (in shares) | 567,524 | 72,353

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