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Condensed Consolidated Statements of Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Retained Earnings        
Cash dividends declared (in dollars per share) $ 0.425 $ 0.385 $ 1.195 $ 1.085