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When is $G(R)\rightarrow G^{\textrm{ad}}(R)$ surjective?

Consider a reductive group $G$ over a field $k$. The adjoint group $G^{\textrm{ad}}$ is defined by the exact sequence $$1\rightarrow Z(G)\rightarrow G\rightarrow G^{\textrm{ad}}\rightarrow 1$$The ...