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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Par value (in dollars per share) $ 1.00 $ 1.00
Shares authorized (in shares) 325,000,000 325,000,000
Shares issued (in shares) 112,000,000 112,000,000
Shares outstanding (in shares) 111,000,000 111,000,000