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Earnings Per Share - Share-based Compensation (Details) - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total exercised or released (in shares)	46,231	96,421	1,546,835	1,168,119
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercised (in shares)	17,636	53,180	73,629	136,604
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-options exercised (in shares)	19,698	43,241	896,785	959,162
Performance Share Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-options exercised (in shares)	8,897	0	576,421	72,353

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