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Condensed Consolidated Balance Sheets (Parenthetical) - shares shares in Millions | Sep. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Dec. 31, 2021
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Statement of Financial Position [Abstract] |  |  |  |
Common stock, shares outstanding (shares) | 82.1 | 81.2 | 80.9 | 80.0

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