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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
 3 Months Ended
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Exercise of stock options 6,455 13,642 14,609 28,152 85,379 186,521
Issuance of common stock through performance stock awards     272,813     286,350
Common stock purchase plan 31,705 31,114 58,734 26,726 31,455 44,161
Purchase of treasury stock   1,196 110,520     111,835
Common stock shares issued for cash       266,410    
Common stock dividends/distributions $ 0.50 $ 0.50 $ 1.00 $ 0.96 $ 0.96 $ 0.96
Preferred stock dividend shares $ 15.95 $ 15.95 $ 15.95 $ 15.95 $ 15.95 $ 15.95
Additional Paid-in Capital [Member]            
Exercise of stock options 6,455 13,642 14,609 28,152 85,379 186,521
Issuance of common stock through performance stock awards     272,813     286,350
Common stock purchase plan 31,705 31,114 58,734 26,726 31,455 44,161
Common stock shares issued for cash       266,410    
Treasury Stock [Member]            
Purchase of treasury stock   1,196 110,520     111,835
Accumulated Deficit [Member]            
Common stock dividends/distributions $ 0.50 $ 0.50 $ 1.00 $ 0.96 $ 0.96 $ 0.96
Preferred stock dividend shares $ 15.95 $ 15.95 $ 15.95 $ 15.95 $ 15.95 $ 15.95