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Consolidated Statements of Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]      
Dividends paid on common stock (in dollars per share) $ 1.0000 $ 0.9200 $ 0.8500