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Share-Based Compensation Plans - Assumptions Used to Determine Weighted-Average Fair Value of Options Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Payment Arrangement [Abstract]      
Weighted average fair value of options granted (in dollars per share) $ 15.45 $ 9.80 $ 9.93
Expected dividend yield 3.10% 3.10% 3.10%
Risk-free interest rate 3.00% 1.00% 0.40%
Expected volatility 22.50% 20.90% 22.10%
Expected life (years) 5 years 10 months 24 days 5 years 10 months 24 days 5 years 9 months 18 days