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Stock-Based Compensation Plans - Schedule of Stock Option Activity (Details)
shares in Millions
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Stock Option Activity  
Outstanding at beginning of period | shares 6.4
Granted | shares 1.0
Cancelled/forfeited | shares (0.3)
Outstanding at end of period | shares 7.1
Options exercisable at end of period | shares 4.8
Weighted-Average Exercise Price  
Outstanding at beginning of period | $ / shares $ 18.68
Granted | $ / shares 13.27
Cancelled/forfeited | $ / shares 13.94
Outstanding at end of period | $ / shares 18.09
Options exercisable at end of period | $ / shares $ 19.1
Stock Options, Additional Disclosures  
Weighted-average remaining contractual term, outstanding at end of period (years) 6 years 3 months 18 days
Weighted-average remaining contractual term, options exercisable at end of period (years) 5 years 2 months 12 days