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Condensed Consolidated Statements of Changes in Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Statement Of Stockholders Equity [Abstract]        
Dividends, per share $ 0.71 $ 0.70 $ 2.125 $ 2.095