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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Common stock, par value (usd per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 160,000,000 160,000,000
Common stock, shares issued (in shares) 116,847,003 116,644,246
Common stock, shares outstanding (in shares) 116,844,768 116,642,899
Treasury stock (in shares) 2,235 1,347