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Consolidated Statements of Total Equity (Parenthetical) (Unaudited) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement Of Stockholders Equity [Abstract]        
Dividends declared $ 0.61 $ 0.57 $ 1.75 $ 1.67