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Consolidated Balance Sheets (Parenthetical) - shares
Dec. 31, 2020
Dec. 31, 2019
Shareholders’ equity    
Preferred stock, authorized shares (in shares) 10,000,000 10,000,000
Preferred stock, issued shares (in shares) 0 0
Common stock, authorized shares (in shares) 200,000,000 200,000,000
Common stock, issued shares (in shares) 109,181,124 108,973,328
Common stock, outstanding shares (in shares) 109,181,124 108,973,328