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Earnings Per Share - Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Stock options        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Stock options (in shares) 150 170 233 154
PVRSUs        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
PVRSUs (in shares) 0 75 0 75