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Equity Incentive Plan RSUs and PSUs Rollforward (Details) - $ / shares
$ / shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Restricted Stock Units, Nonvested, Intrinsic Value $ 32.4 $ 36.0
Performance Stock Units, Grants in Period 2,998  
Performance Share Unit, Nonvested, Number of Shares 10,411 12,282
Performance Share units, Nonvested, Intrinsic Value $ 12.6 $ 17.8
Share Based Compensation, Performance Shares Vested in the Period (9,010)  
Share Based Compensation, Performance Shares Forfeited in the period (364)  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]    
Restricted Stock Units, Nonvested, Number, Beginning 24,892  
Restricted Stock Units, Grants in Period 12,517  
Share Based Compensation, Performance Shares Vested in the Period for Vesting of 2016 PUs 4,505  
Restricted Stock Units, Vested in Period (8,798)  
Restricted Stock Units, Forfeited in Period (1,872)  
Restricted Stock Units, Nonvested, Number, Ending 26,739