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Earnings Per Share - Share-based Compensation (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total exercised or released (in shares)	121,196	20,865	1,668,031	1,188,984
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options (in shares)	110,170	19,600	183,799	156,204
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units and performance share units (in shares)	11,026	1,265	907,811	960,427
Performance Share Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units and performance share units (in shares)	0	0	576,421	72,353

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