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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 153,000,000.0 153,000,000.0
Common stock, shares outstanding (in shares) 58,500,000 58,500,000
Treasury stock, at cost (in shares) 17,700,000 14,500,000