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Not sure off hand, 17 maybe 18MM but someone will probably chime with with the correct size. If you want to remove them you can use a floor jack if you have one and if not, you'll have to buy a jack. I like hydraulic floor jacks because you don't have to lift or carry them, just roll them and they're fast to jack up and release but you can use scissor jacks too which are the type that come with most cars.
Sometimes, I just jack up each corner while the car is in my garage to clean the calipers because its easy to rotate the wheel to where ever I want it.
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