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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Mar. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 300,000,000 300,000,000
Common stock, shares issued (in shares) 170,589,846 171,075,011
Common stock, shares outstanding (in shares) 164,337,766 165,094,440
Common stock in treasury (in shares) 6,252,080 5,980,571