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Benefit Plans - Changes in RSUs Outstanding (Details) - RSUs - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Changes in Director's Restricted Stock Awards      
Outstanding at beginning of year (in shares) 5,196,609 3,889,756 3,228,659
Granted (in shares) 2,944,837 3,426,181 1,999,376
Vested (in shares) (2,110,120) (1,833,739) (1,239,797)
Forfeited (in shares) (336,996) (285,589) (98,482)
Outstanding at end of year (in shares) 5,694,330 5,196,609 3,889,756