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Condensed Consolidated Balance Sheets (Parenthetical) - shares
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, shares authorized (in shares) 65,035,579 65,035,579
Common stock, shares issued (in shares) 60,992,259 60,992,259
Common stock, shares outstanding (in shares) 60,633,302 60,487,117
Treasury stock, cost (in shares) 358,957 505,142