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Equity - Assumptions for Estimating Fair Value of Stock Options and SARs (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Equity [Abstract]      
Risk-free interest rate 0.90% 2.50% 2.70%
Expected years until exercise 6 years 6 years 6 years
Expected stock volatility 34.30% 33.80% 33.00%
Dividend yield 4.20% 3.40% 2.70%