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Share-Based Compensation - Weighted-Average Assumptions of Stock Options (Details) - Stock options
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 4.92% 1.55% 1.13%
Expected term 6 years 14 days 6 years 6 months 6 years 8 months 15 days
Expected stock price volatility (percent) 28.76% 27.66% 27.54%
Dividend yield (percent) 4.79% 2.30% 2.64%