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Capital Stock - Schedule of Common Stock Outstanding (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Common stock:      
Balance, beginning of year 110.1 109.7 109.3
Activity under stock plans 0.3 0.4 0.4
Balance, end of year 110.4 110.1 109.7
Treasury stock:      
Balance, beginning of year 26.1 26.1 25.7
Repurchased 0.1   0.4
Balance, end of year 26.2 26.1 26.1
Common stock outstanding 84.2 84.0 83.6