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Shareholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2021
Stockholders' Equity Note [Abstract]  
Schedule of common and preferred stock activity
The Common and Preferred Stock Activity table below contains additional information about preferred stock conversions during 2021, 2020 and 2019:

 
Common and Preferred Stock Activity:Preferred StockCommon stock
(in shares)Series A ConvertibleTreasuryOutstanding
Balance as of December 31, 201871,967 7,186,521 88,103,440 
Repurchase of common stock— — — 
Conversion of convertible preferred stock(4,644)— 464,431 
Issuance for share-based compensation plans— — 617,790 
Balance as of December 31, 201967,323 7,186,521 89,185,661 
Repurchase of common stock— — — 
Conversion of convertible preferred stock(3,734)— 373,416 
Issuance for share-based compensation plans— — 496,720 
Balance as of December 31, 202063,589 7,186,521 90,055,797 
Repurchase of common stock— — — 
Conversion of convertible preferred stock(5,047)— 504,596 
Issuance for share-based compensation plans— — 671,218 
Balance as of December 31, 202158,542 7,186,521 91,231,611