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In the process for urea synthesis, a reactor effluent is introduced in a First heater to separate excess ammonia and decompose ammonium carbamate thereby separating them from the liquid phase. Then the liquid effluent from the first heater is introduced in a second heater to separate the remaining excess of ammonia and to decompose ammonium carbamate in the presence of starting carbon dioxide used as stripping gas, thereby separating them from the liquid phase.