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Lines of Credit and Long-Term Debt - Notes payable and bank lines (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Notes Payable and Long Term Debt    
Lines of credit $ 222 $ 246
Committed bank lines    
Notes Payable and Long Term Debt    
Number of revolving credit agreements 2  
Lines of credit $ 0 0
Committed bank lines | Minimum    
Notes Payable and Long Term Debt    
Unused commitment fee 0.15%  
Committed bank lines | Maximum    
Notes Payable and Long Term Debt    
Unused commitment fee 0.20%  
Committed Line Of Credit Due May 20, 2021    
Notes Payable and Long Term Debt    
Maximum capacity $ 250  
Additional borrowing capacity 100  
Committed Line Of Credit Due September 30, 2021    
Notes Payable and Long Term Debt    
Lines of credit 100  
Uncommitted bank lines    
Notes Payable and Long Term Debt    
Lines of credit $ 222 $ 246
Weighted average interest rate (as a percent) 3.89% 5.79%
Uncommitted bank lines | Denominated in foreign currencies    
Notes Payable and Long Term Debt    
Lines of credit $ 142  
Uncommitted bank lines | Foreign subsidiaries | Denominated in South African Rand    
Notes Payable and Long Term Debt    
Lines of credit 106  
Uncommitted bank lines | Foreign subsidiaries | Denominated in Canadian dollars    
Notes Payable and Long Term Debt    
Lines of credit 25  
Uncommitted bank lines | Foreign subsidiaries | Denominated in Zambian kwacha    
Notes Payable and Long Term Debt    
Lines of credit $ 9