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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Statement Of Financial Position [Abstract]    
Common stock, par value $ 0.01 $ 0.01
Common stock, shares authorized 200,000,000.0 200,000,000.0
Common stock, shares issued 109,700,000 109,300,000
Treasury stock, shares 26,100,000 25,700,000