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Consolidated Statement of Changes in Equity (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Statement of Stockholders' Equity [Abstract]      
Common stock, par value (in dollars per share) $ 0.10 $ 0.10 $ 0.10
Accounting Standards Update [Extensible Enumeration]     Accounting Standards Update 2019-12 [Member]
Dividends (in dollar per share) $ 1.96 $ 1.80 $ 1.64