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The Genesis block and the two duplicate coinbase outputs each lost us 50 ₿, and there were over 1000 blocks that didn't collect the whole block reward. On top of that, some bitcoins were burned in Proof of Burn schemes or OP_RETURN outputs.

We had already crossed the 20Mth bitcoin that could have been mined per the reward schedule, but the supply in circulation is lagging behind a bit.

Pieter has a great explanation here from a few years ago: https://bitcoin.stackexchange.com/q/38994