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Share-Based Compensation - Valuation Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]      
Risk-free interest rate 3.47% 1.72% 0.64%
Expected life in years 6 years 1 month 6 days 6 years 5 years 8 months 12 days
Expected volatility 24.00% 23.00% 24.00%
Expected dividend yield 1.56% 1.17% 1.16%
Estimated fair value of options granted per share (in dollars per share) $ 27.39 $ 28.18 $ 22.70