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Shareholders' Equity - Preferred Stock Activity (Details) - shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Class of Stock [Line Items] |  |  |  |
Shares, outstanding (in shares) | 92,323,978 | 91,231,611 | 90,055,797 |
Series A Convertible Preferred Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares, outstanding (in shares) | 53,854 | 58,542 | 63,589 | 67,323
Conversion of convertible preferred stock (shares) | (4,688) | (5,047) | (3,734) |
Treasury stock, at cost |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares, outstanding (in shares) | 7,186,521 | 7,186,521 | 7,186,521 | 7,186,521
Common stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares, outstanding (in shares) |  |  |  | 89,185,661
Conversion of convertible preferred stock (shares) | (468,785) | (504,596) | (373,416) |
Issuance for share-based compensation plans (shares) | 623,582 | 671,218 | 496,720 |

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- Definition The number of shares converted in a noncash (or part noncash) transaction. Noncash is defined as transactions during a period that do not result in cash receipts or cash payments in the period. "Part noncash" refers to that portion of the transaction not resulting in cash receipts or cash payments in the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 4 -URI https://asc.fasb.org/extlink&oid=126999549&loc=d3e4313-108586 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=126999549&loc=d3e4304-108586 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 5 -URI https://asc.fasb.org/extlink&oid=126999549&loc=d3e4332-108586 + Details
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