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Earnings (Loss) per Share - Schedule of Antidilutive Securities Excluded From Computation of Earnings Per Share (Details) - shares shares in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Earnings Per Share, Basic, by Common Class, Including Two Class Method [Line Items] |  |  |
Assumed conversion of convertible debt (in shares) | 0.0 | 14.1 | 14.1
Stock options |  |  |
Earnings Per Share, Basic, by Common Class, Including Two Class Method [Line Items] |  |  |
Assumed conversion of dilutive stock options and warrants and restricted stock (in shares) | 0.6 |  |
Restricted stock |  |  |
Earnings Per Share, Basic, by Common Class, Including Two Class Method [Line Items] |  |  |
Assumed conversion of dilutive stock options and warrants and restricted stock (in shares) | 0.3 |  |
Convertible preferred stock |  |  |
Earnings Per Share, Basic, by Common Class, Including Two Class Method [Line Items] |  |  |
Assumed conversion of convertible preferred shares (in shares) | 0.3 |  |
Convertible debt securities |  |  |
Earnings Per Share, Basic, by Common Class, Including Two Class Method [Line Items] |  |  |
Assumed conversion of convertible debt (in shares) | 14.1 |  |

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