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Common Stock and Earnings per Share - Schedule of Antidilutive Shares Excluded from Computation of Diluted Earnings per Share (Details) - shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares Underlying Stock Options Excluded      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded from diluted earnings per share (shares) 838,000 1,996,000 622,000
Performance Stock Grants Excluded because Performance Conditions Have Not Been Met      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded from diluted earnings per share (shares) [1] 335,000 578,000 717,000
[1] Compensation cost is recognized for these performance stock grants based on expected achievement rates; however no consideration is given for these performance stock grants when calculating earnings per share until the performance measurements are actually achieved.