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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.06 $ 0.06
Common stock, shares authorized (in shares) 400,000,000 400,000,000
Common stock, shares issued (in shares) 251,277,515 259,328,613
Common stock, shares outstanding (in shares) 251,277,515 259,328,613