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Condensed Consolidated Statements of Stockholders' Equity (Deficit) (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Dividends declared (usd per share) $ 0.94 $ 0.90 $ 1.88 $ 1.80