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Subsequent Events (Details) - $ / shares
12 Months Ended
Feb. 16, 2024
Jan. 26, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Subsequent events          
Cash dividends declared (in dollars per share)     $ 2.04 $ 1.98 $ 1.92
Subsequent event          
Subsequent events          
Cash dividends declared (in dollars per share)   $ 0.52      
Cash dividends paid (in dollars per share) $ 0.52