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Condensed Consolidated Statements of Financial Position (Parenthetical) - $ / shares
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, nominal or par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized shares (in shares) 500,000,000.0 500,000,000.0
Common stock, issued shares (in shares) 221,400,000 225,500,000