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Share-Based Compensation and Other Incentive Plans - Stock Options Outstanding and Exercisable (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Options Outstanding  
No. of options (in shares) | shares 2,364
Wtd. avg. contractual life 4 years
Options Exercisable  
No. of options (in shares) | shares 1,707
Wtd. avg. contractual life 3 years
$51-$70  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 51
Exercise price range, maximum (USD per share) $ 70
Options Outstanding  
No. of options (in shares) | shares 209
Wtd. avg. Exercise Price (USD per share) $ 67
Wtd. avg. contractual life 1 year
Options Exercisable  
No. of options (in shares) | shares 209
Wtd. avg. Exercise Price (USD per share) $ 67
Wtd. avg. contractual life 1 year
$71-$90  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 71
Exercise price range, maximum (USD per share) $ 90
Options Outstanding  
No. of options (in shares) | shares 714
Wtd. avg. Exercise Price (USD per share) $ 77
Wtd. avg. contractual life 3 years
Options Exercisable  
No. of options (in shares) | shares 714
Wtd. avg. Exercise Price (USD per share) $ 77
Wtd. avg. contractual life 3 years
$91-$110  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 91
Exercise price range, maximum (USD per share) $ 110
Options Outstanding  
No. of options (in shares) | shares 208
Wtd. avg. Exercise Price (USD per share) $ 108
Wtd. avg. contractual life 4 years
Options Exercisable  
No. of options (in shares) | shares 208
Wtd. avg. Exercise Price (USD per share) $ 108
Wtd. avg. contractual life 4 years
$111-$130  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 111
Exercise price range, maximum (USD per share) $ 130
Options Outstanding  
No. of options (in shares) | shares 46
Wtd. avg. Exercise Price (USD per share) $ 120
Wtd. avg. contractual life 5 years
Options Exercisable  
No. of options (in shares) | shares 46
Wtd. avg. Exercise Price (USD per share) $ 120
Wtd. avg. contractual life 5 years
$131-$150  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 131
Exercise price range, maximum (USD per share) $ 150
Options Outstanding  
No. of options (in shares) | shares 243
Wtd. avg. Exercise Price (USD per share) $ 139
Wtd. avg. contractual life 5 years
Options Exercisable  
No. of options (in shares) | shares 243
Wtd. avg. Exercise Price (USD per share) $ 139
Wtd. avg. contractual life 5 years
$151-$170  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 151
Exercise price range, maximum (USD per share) $ 170
Options Outstanding  
No. of options (in shares) | shares 199
Wtd. avg. Exercise Price (USD per share) $ 156
Wtd. avg. contractual life 6 years
Options Exercisable  
No. of options (in shares) | shares 196
Wtd. avg. Exercise Price (USD per share) $ 155
Wtd. avg. contractual life 6 years
$171-$190  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 171
Exercise price range, maximum (USD per share) $ 190
Options Outstanding  
No. of options (in shares) | shares 244
Wtd. avg. Exercise Price (USD per share) $ 180
Wtd. avg. contractual life 7 years
Options Exercisable  
No. of options (in shares) | shares 41
Wtd. avg. Exercise Price (USD per share) $ 180
Wtd. avg. contractual life 7 years
$191 and over  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price range, minimum (USD per share) $ 191
Options Outstanding  
No. of options (in shares) | shares 501
Wtd. avg. Exercise Price (USD per share) $ 244
Wtd. avg. contractual life 9 years
Options Exercisable  
No. of options (in shares) | shares 50
Wtd. avg. Exercise Price (USD per share) $ 228
Wtd. avg. contractual life 8 years