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Consolidated Statements of Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Common stock dividends:        
Dividends on common stock (in dollars per share) $ 1.02 $ 0.98 $ 3.06 $ 2.94