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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
shares in Millions
Sep. 30, 2021
Dec. 31, 2020
Statement Of Financial Position [Abstract]    
Common stock, par value $ 0.01 $ 0.01
Common stock, shares authorized 200.0 200.0
Common stock, shares issued 110.0 109.7
Treasury stock, shares 26.1 26.1