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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Preferred stock authorized (shares) 3,800,917 3,800,917
Preferred stock outstanding (shares) 0 0
Common stock, par value (USD per share) $ 0.50 $ 0.50
Common stock authorized (shares) 400,000,000 400,000,000
Common stock outstanding (shares) 53,278,316 53,116,485