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Stock-Based Compensation - Summary of Stock Options Exercised (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Options exercised (in shares) 206,016 307,660 470,632
Total intrinsic value $ 27 $ 54 $ 83
Cash received upon exercise 19 25 42
Related tax benefits realized $ 6 $ 12 $ 17