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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Common stock par value (in dollars per share) $ 0.01 $ 0.01
Common stock authorized (in shares) 250,000,000 250,000,000
Common stock issued (in shares) 136,295,000 135,187,000
Common stock outstanding (in shares) 50,180,000 52,038,000
Treasury stock (in shares) 86,115,000 83,149,000