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Stock Plans and Share-Based Compensation - Roll-Forward of Activity for Restricted Stock Units (Details) - Restricted Stock Units - $ / shares
shares in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Units      
Unvested balance at beginning of period (in shares) 1.6    
Granted (in shares) 0.6    
Vested (in shares) (0.7)    
Forfeited (in shares) (0.1)    
Expired (in shares) 0.0    
Unvested balance at end of period (in shares) 1.4 1.6  
Weighted- Average Grant-Date Fair Value      
Unvested balance at beginning of period (in dollars per share) $ 25.79    
Granted (in dollars per share) 22.81 $ 29.60 $ 17.84
Vested (in dollars per share) 23.97    
Forfeited (in dollars per share) 23.40    
Expired (in dollars per share) 0    
Unvested balance at end of period (in dollars per share) $ 25.47 $ 25.79