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Condensed Consolidated Statements of Equity (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Statement of Stockholders' Equity [Abstract]        
Cash dividends paid per share (in dollars per share) $ 0.39 $ 0.35 $ 0.39 $ 0.35