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Consolidated Balance Sheets (Parenthetical) - $ / shares
Jun. 30, 2021
Dec. 31, 2020
Statement Of Financial Position [Abstract]    
Preferred stock, par value (in dollars per share) $ 1 $ 1
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized 95,000,000 95,000,000
Common stock, shares issued 50,862,000 50,192,000