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Earnings Per Share - Antidilutive securities excluded from the calculation of diluted EPS (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based compensation      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Share based compensation (in shares) 1.0 1.7 2.7
Convertible preferred shares      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Share based compensation (in shares) 5.4 5.8 6.3
Convertible senior notes      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Share based compensation (in shares) 4.6 4.6 4.8