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Common Stock Issued and Outstanding - Number of Shares of Common Stock Issued and Outstanding (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning of year (in shares) | 155,467,319 | 154,463,050 | 153,598,625
Stock options exercised (in shares) | 2,657 | 181,655 | 32,554
Restricted stock awards (in shares) | 689,824 | 822,614 | 831,871
Treasury shares purchased (in shares) | (3,411,158) | 0 | 0
End of year (in shares) | 152,748,642 | 155,467,319 | 154,463,050

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