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Stock Options and Other Equity-Based Incentive Instruments - Weighted Average Fair Value and Assumptions (Details) - Performance Shares - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Performance share fair value (in dollars per share) $ 27.73 $ 40.89
Risk-free interest rate 4.16% 4.10%
Expected volatility 33.86% 39.01%
Expected life (years) 3 years 3 years
Expected dividend yield 3.22% 2.32%