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Equity Incentive Program Equity Incentive Program - PSUs (Details)
$ / shares in Units, $ in Millions
 6 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Performance Shares  
Share-based Compensation Arrangement by Share-based Payment Award  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ $ 14.5
Number of Shares [Roll Forward]  
Beginning balance | shares 864,749
Granted | shares 414,680
Vested (1) | shares (258,680)
Forfeited | shares (69,360)
Ending balance | shares 951,389
Weighted Average Grant Date Fair Value  
Beginning balance | $ / shares $ 29.28
Granted | $ / shares 24.09
Vested (1) | $ / shares 28.49
Forfeited | $ / shares 27.60
Ending balance | $ / shares $ 27.35
Restricted Stock Units (RSUs)  
Share-based Compensation Arrangement by Share-based Payment Award  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ $ 32.7
Number of Shares [Roll Forward]  
Beginning balance | shares 2,075,007
Granted | shares 1,496,407
Vested (1) | shares (920,876)
Forfeited | shares (108,071)
Ending balance | shares 2,542,467
Weighted Average Grant Date Fair Value  
Beginning balance | $ / shares $ 19.49
Granted | $ / shares 16.71
Vested (1) | $ / shares 19.73
Forfeited | $ / shares 18.13
Ending balance | $ / shares $ 17.83