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Consolidated Statements of Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Statement of Stockholders' Equity [Abstract]              
Dividends declared (usd per share) $ 0.55 $ 0.55 $ 0.55 $ 0.44 $ 0.32 $ 1.65 $ 0.76