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Earnings Per Share - Shares of Common Stock Outstanding (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common Stock Outstanding [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 170,841,164 |  |
Balance, end of year (in shares) | 154,382,880 | 170,841,164 |
Common Stock |  |  |
Common Stock Outstanding [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 170,841,164 | 203,531,320 | 220,440,993
Issuance Related to Stock-Based Compensation (in shares) | 1,106,240 | 836,070 | 1,374,925
Retirement of Common Stock (in shares) | (17,564,524) | (33,526,226) | (18,284,598)
Balance, end of year (in shares) | 154,382,880 | 170,841,164 | 203,531,320

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