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Capital Stock - Schedule of Common Stock Outstanding (Details) - shares
shares in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Common stock:      
Balance, beginning of year 110.4 110.1 109.7
Activity under stock plans 0.4 0.3 0.4
Balance, end of year 110.8 110.4 110.1
Treasury stock:      
Balance, beginning of year 26.2 26.1 26.1
Repurchased 0.5 0.1 0.0
Balance, end of year 26.7 26.2 26.1
Common stock outstanding 84.1 84.2 84.0