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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Jun. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, par value (in usd per share) $ 0.01 $ 0.01
Common stock, shares outstanding (in shares) 50,464,034 52,536,482
Treasury stock, shares (in shares) 25,422,064 23,004,607