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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Common stock, number of shares issued (in shares) 720,807,884 728,558,989
Common stock, number of shares outstanding (in shares) 720,807,884 728,558,989
Preferred stock, par value (usd per share) $ 0.001 $ 0.001
Preferred stock, number of shares authorized (in shares) 40,000,000 40,000,000
Preferred stock, number of shares outstanding (in shares) 0 0
Common stock, par value (usd per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 1,460,000,000 1,460,000,000