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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
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) 236,440,840 243,692,869
Common stock, shares outstanding (in shares) 236,440,840 243,692,869