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Consolidated balance sheets (Parenthetical) - € / shares
Dec. 31, 2021
Dec. 31, 2020
Consolidated balance sheets    
Nominal value per share € 1.00 € 1.00
Shares authorized 362,370,124 362,370,124
Shares issued 293,004,339 292,876,570
Shares outstanding 293,004,339 292,876,570