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Earnings Per Share - Anti-Dilutive Stock Options (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock options      
Anti-dilutive securities      
Number of shares excluded from the computation of diluted earnings per share 0.1 0 0.2
Unvested restricted stock units      
Anti-dilutive securities      
Number of shares excluded from the computation of diluted earnings per share 0 0.1 0