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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2022
Stockholders' Equity Note [Abstract] |
Schedule of Stock-based Compensation Expense, Tax Effect | Stock-based compensation expense was as follows:
|  | Year Ended December 31,
(in millions) |  | 2022 |  | 2021 |  | 2020
Stock-based compensation expense, pre-tax |  | $ | 21 |  |  | $ | 21 |  |  | $ | 20 |
Income tax benefit recognized in earnings |  | 4 |  |  | 3 |  |  | 3 |
Schedule of Disclosure of Share-based Compensation Arrangements by Share-based Payment Award | Summary of Stock-based Compensation Activity
|  | 2022 |  | 2021 |  | 2020
(shares in thousands) |  | Shares |  | Weighted Average Grant Date Fair Value |  | Shares |  | Weighted Average Grant Date Fair Value |  | Shares |  | Weighted Average Grant Date Fair Value
Restricted Stock Units / Shares |  |  |  |  |  |  |  |  |  |  |  |
Outstanding at January 1 |  | 3,792 |  |  | $ | 4.57 |  |  | 5,620 |  |  | $ | 3.49 |  |  | 1,741 |  |  | $ | 13.07 |
Granted |  | 3,431 |  |  | 5.15 |  |  | 2,677 |  |  | 6.65 |  |  | 7,778 |  |  | 2.25 |
Vested |  | (3,238) |  |  | 4.38 |  |  | (3,117) |  |  | 4.69 |  |  | (2,816) |  |  | 4.99 |
Canceled |  | (820) |  |  | 4.56 |  |  | (1,388) |  |  | 3.96 |  |  | (1,083) |  |  | 6.11 |
Outstanding at December 31 |  | 3,165 |  |  | 5.39 |  |  | 3,792 |  |  | 4.57 |  |  | 5,620 |  |  | 3.49 |
Performance Stock Units / Shares |  |  |  |  |  |  |  |  |  |  |  |
Outstanding at January 1 |  | 3,609 |  |  | $ | 4.71 |  |  | 5,453 |  |  | $ | 3.83 |  |  | 3,597 |  |  | $ | 16.17 |
Granted |  | 2,186 |  |  | 4.80 |  |  | 1,545 |  |  | 6.54 |  |  | 7,010 |  |  | 1.37 |
Vested |  | (1,688) |  |  | 2.02 |  |  | (1,945) |  |  | 3.37 |  |  | (3,163) |  |  | 7.33 |
Canceled |  | (1,010) |  |  | 8.02 |  |  | (1,444) |  |  | 5.13 |  |  | (1,991) |  |  | 11.91 |
Outstanding at December 31 |  | 3,097 |  |  | — |  |  | 3,609 |  |  | 4.71 |  |  | 5,453 |  |  | 3.83 |
Schedule of Unrecognized Compensation Cost, Nonvested Awards | The total unrecognized compensation cost related to non-vested stock-based awards at December 31, 2022 was as follows (in millions):
Awards |  | Unrecognized Compensation |  | Remaining Weighted-Average Expense Period (Years)
Restricted Stock Units / Shares |  | $ | 12 |  |  | 1.7
Performance Stock Units / Shares |  | 4 |  |  | 1.4
Total |  | $ | 16 |  |  |
Schedule of Aggregate intrinsic value restricted stock and performance shares compensation awards | The aggregate intrinsic value of outstanding RSUs and PSUs awards were as follows (in millions):
Awards |  | December 31, 2022
Restricted Stock Units / Shares |  | $ | 13 |
Performance Stock Units / Shares |  | 13 |
Schedule of Vested and exercised stock based awards total intrinsic value and tax benefit realized | The total intrinsic value and actual tax benefit realized for vested and exercised stock-based awards were as follows:
(in millions) |  | December 31, 2022 |  | December 31, 2021 |  | December 31, 2020
Awards |  | Total Intrinsic Value |  | Cash Received |  | Tax Benefit |  | Total Intrinsic Value |  | Cash Received |  | Tax Benefit |  | Total Intrinsic Value |  | Cash Received |  | Tax Benefit
Restricted Stock Units / Shares |  | $ | 13 |  |  | $ | — |  |  | $ | 3 |  |  | $ | 17 |  |  | $ | — |  |  | $ | 3 |  |  | $ | 13 |  |  | $ | — |  |  | $ | 3 |
Performance Stock Units / Shares |  | 7 |  |  | — |  |  | 1 |  |  | 11 |  |  | — |  |  | 2 |  |  | 14 |  |  | — |  |  | 2 |

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