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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - € / shares
6 Months Ended
Jun. 30, 2024
Dec. 31, 2023
Jun. 30, 2023
Preferred stock, par value per share (in USD per share) € 1.27 € 1.27 € 1.27
Common stock, par value per share (in USD per share) € 0.32 € 0.32 € 0.32
Common stock, shares authorized (in shares) 1,250,000,000 1,250,000,000 1,250,000,000
Common stock, shares, issued (in shares) 725,113,896 734,519,598 752,140,338
Common stock, shares, outstanding (in shares) 725,113,896 734,519,598 752,140,338
Treasury stock, common, shares (in shares) 41,540,247 42,419,281 24,158,408
Five percent preferred stock      
Preferred stock, shares authorized (in shares) 150,000 150,000 150,000
Preferred stock, shares issued (in shares) 50,000 50,000 50,000
Preferred stock, shares outstanding (in shares) 50,000 50,000 50,000
Preferred stock, dividend rate, percentage 5.00%    
Seven percent preferred stock      
Preferred stock, shares authorized (in shares) 872,000 872,000 872,000
Preferred stock, shares issued (in shares) 872,000 872,000 872,000
Preferred stock, shares outstanding (in shares) 872,000 872,000 872,000
Preferred stock, dividend rate, percentage 7.00%