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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2019
Shareholders' equity    
Common stock, par value
Common stock, shares issued 58,878,749 61,362,872
Common stock, shares outstanding 58,861,171 61,175,852
Number of treasury shares held in trust for future settlement of share based awards 17,578 187,020