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Earnings per Share - Reconciliation (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Earnings Per Share [Abstract]      
Weighted average shares outstanding - basic (in shares) 139,848 142,681 143,923
Dilutive effect of assumed exercise of SARs and vesting of PSAs and RSUs (in shares) 751 914 1,350
Weighted average shares outstanding - Diluted (in shares) 140,599 143,595 145,273