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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Preferred stock, shares authorized (in shares) 30,000,000 30,000,000
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in usd per share) $ 5.00 $ 5.00
Common stock, shares authorized (in shares) 500,000,000 500,000,000
Common stock, shares issued (in shares) 185,744,072 185,744,072
Treasury stock (in shares) 50,943,042 50,166,194