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Share Owners' Equity - Authorization of common stock (Details) - $ / shares
Jun. 30, 2020
Dec. 31, 2019
Jun. 30, 2019
Authorization of common stock      
Common stock, shares authorized 250,000,000    
Common stock, par value (in dollars per share) $ 0.01    
Shares of common stock issued (including treasury shares) 189,294,000 188,447,000 188,435,000
Treasury stock, shares 32,338,000 32,573,000 32,978,000