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Consolidated Balance Sheets (Parenthetical) - $ / shares
Jun. 30, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 2.50 $ 2.50
Common stock, shares authorized (in shares) 600,000,000 600,000,000
Common stock, shares issued (in shares) 223,000,000 222,400,000
Treasury stock, shares (in shares) 61,100,000 58,200,000