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Share-Based Compensation Plans - Summary of RSU and Restricted Stock Activity (Details) - $ / shares
shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Liability Awards - RSUs      
Awards      
Outstanding (in shares) 0.1 0.2 0.4
Granted (in shares) 0.1 0.1 0.4
Additional issuance due to achievement of performance metrics   0.0  
Vested (in shares) (0.1) (0.2) (0.6)
Forfeited (in shares) 0.0 0.0 0.0
Outstanding (in shares) 0.1 0.1 0.2
Equity Awards - RSUs      
Awards      
Outstanding (in shares) 3.3 4.4 3.2
Granted (in shares) 2.5 2.3 2.9
Additional issuance due to achievement of performance metrics   1.6  
Vested (in shares) (1.6) (4.8) (1.5)
Forfeited (in shares) (0.1) (0.2) (0.2)
Outstanding (in shares) 4.1 3.3 4.4
Weighted- Average Grant Price      
Outstanding (in dollars per share) $ 37.88 $ 53.63 $ 53.41
Granted (in dollars per share) 43.42 31.96 52.18
Additional issuance due to achievement of performance metrics (in dollars per share)   58.17  
Vested (in dollars per share) 44.03 56.00 51.35
Forfeited (in dollars per share) 36.90 53.03 46.77
Outstanding (in dollars per share) $ 38.86 $ 37.88 $ 53.63