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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Common stock, par value $ 0.01  
Common stock, shares authorized 500,000,000  
Common stock, shares issued 175,525,268 175,057,889
Treasury stock, shares 11,047,856 9,511,248