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Earnings Per Share - Anti-dilutive Stock Options (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Employee Stock Option        
Anti-dilutive securities        
Number of shares excluded from the computation of diluted earnings per share 0.2 0.1 0.2 0.1
Unvested restricted stock units        
Anti-dilutive securities        
Number of shares excluded from the computation of diluted earnings per share 0 0.3 0 0.2