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Subsequent Events (Details) - $ / shares
12 Months Ended
Jan. 27, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Subsequent Event [Line Items]        
Cash dividend declared (in dollars per share)   $ 1.32 $ 1.32 $ 1.29
Subsequent Event        
Subsequent Event [Line Items]        
Cash dividend declared (in dollars per share) $ 0.33