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Condensed Consolidated Balance Sheets (unaudited) (Parenthetical) - $ / shares
Mar. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (usd per share) $ 1 $ 1
Common stock, shares authorized 100,000,000 100,000,000
Common stock, shares, issued 62,909,973 62,827,179
Treasury stock, shares 39,940 32,492