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Stock-Based Compensation - Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Risk-free interest rate 4.09% 2.18% 0.98%
Expected volatility (historical) 41.85% 40.56% 56.49%
Expected option life 7 years 7 years 7 years
Expected dividends (in dollars per share) $ 0.64 $ 0.61 $ 0.60
Weighted-average grant-date fair value of options granted during the year (in dollars per share) $ 10.95 $ 10.49 $ 13.48