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Share-Based Compensation - Schedule of performance period of shares award (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Estimated or actual attainment 100.00%  
Minimum | Cumulative Performance Period | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2022  
Performance Share Units    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSUs outstanding 847 903
Performance Share Units | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSUs outstanding 265,000  
Estimated PSU attainment or actual PSUs earned 159,000  
Performance Share Units | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSUs outstanding 274,000  
Estimated PSU attainment or actual PSUs earned 214,000  
Performance Share Units | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSUs outstanding 308,000  
Estimated PSU attainment or actual PSUs earned 420,000  
Performance Share Units | First Annual Performance Periods | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2023  
Performance or service period 2023  
Estimated or actual attainment [1] 140.00%  
PSUs outstanding 66,000  
Estimated PSU attainment or actual PSUs earned 92,000  
Performance Share Units | First Annual Performance Periods | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2022  
Performance or service period 2022  
Estimated or actual attainment [1] 140.00%  
PSUs outstanding 68,000  
Estimated PSU attainment or actual PSUs earned 95,000  
Performance Share Units | First Annual Performance Periods | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2021  
Performance or service period 2021  
Estimated or actual attainment [1] 200.00%  
PSUs outstanding 77,000  
Estimated PSU attainment or actual PSUs earned 154,000  
Performance Share Units | Second Annual Performance Periods | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2023  
Performance or service period 2024  
PSUs outstanding 66,000  
Estimated PSU attainment or actual PSUs earned 0  
Performance Share Units | Second Annual Performance Periods | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2022  
Performance or service period 2023  
Estimated or actual attainment [1] 73.00%  
PSUs outstanding 68,000  
Estimated PSU attainment or actual PSUs earned 50,000  
Performance Share Units | Second Annual Performance Periods | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2021  
Performance or service period 2022  
Estimated or actual attainment [1] 87.00%  
PSUs outstanding 77,000  
Estimated PSU attainment or actual PSUs earned 67,000  
Performance Share Units | Third Annual Performance Periods | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2023  
Performance or service period 2025  
PSUs outstanding 66,000  
Estimated PSU attainment or actual PSUs earned 0  
Performance Share Units | Third Annual Performance Periods | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2022  
Performance or service period 2024  
PSUs outstanding 69,000  
Estimated PSU attainment or actual PSUs earned 0  
Performance Share Units | Third Annual Performance Periods | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2021  
Performance or service period 2023  
Estimated or actual attainment [1] 98.00%  
PSUs outstanding 77,000  
Estimated PSU attainment or actual PSUs earned 76,000  
Performance Share Units | Cumulative Performance Period | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2023  
Estimated or actual attainment [2] 100.00%  
PSUs outstanding 67,000  
Estimated PSU attainment or actual PSUs earned 67,000  
Performance Share Units | Cumulative Performance Period | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2022  
Estimated or actual attainment [2] 100.00%  
PSUs outstanding 69,000  
Estimated PSU attainment or actual PSUs earned 69,000  
Performance Share Units | Cumulative Performance Period | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
PSU awards year granted 2021  
Estimated or actual attainment [1] 160.00%  
PSUs outstanding 77,000  
Estimated PSU attainment or actual PSUs earned 123,000  
Performance Share Units | Maximum | Cumulative Performance Period | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2025  
Performance Share Units | Maximum | Cumulative Performance Period | Performance Period Year Granted 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2024  
Performance Share Units | Maximum | Cumulative Performance Period | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2023  
Performance Share Units | Minimum | Cumulative Performance Period | Performance Period Year Granted 2023    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2023  
Performance Share Units | Minimum | Cumulative Performance Period | Performance Periods Year Granted 2021    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance or service period 2021  
[1] Amounts represent actual attainment and actual PSUs earned as the performance period is complete.
[2] Expense for the cumulative performance/service period is recognized at 100% of the estimated attainment until the attainment expected by the end of the cumulative three-year performance period can be estimated, which generally occurs at the end of the second service year.