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Stockholders' Equity (Details) - $ / shares
1 Months Ended 12 Months Ended
Jun. 30, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock        
Repurchases of common stock (shares)   (18,595,315)    
Preferred stock, dividend rate 4.00% 4.00% 4.00%  
Dividend rate (USD per share) $ 2.12      
Shares reserved for issuance under stock plans, dividend reinvestment program and conversion of Preferred and Preference Stock   37,116,835    
Common Stock        
Stock        
Shares outstanding (shares)   187,675,082 186,603,738 185,668,718
Issuance of common stock (shares)   1,276,797 1,043,809 881,480
Conversions to common stock (shares)   92,379 27,535 53,540
Shares outstanding (shares)   170,448,943 187,675,082 186,603,738
Treasury Stock        
Stock        
Shares outstanding (shares)   135,662,830 136,734,174 137,669,194
Issuance of common stock (shares)   1,276,797 1,043,809 881,480
Conversions to common stock (shares)   92,379 27,535 53,540
Shares outstanding (shares)   152,888,969 135,662,830 136,734,174