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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Exercise of stock options 61,949 340,684 361,618
Common stock shares issued for cash   266,410 576,002
Common stock shares issued for purchase of assets     163,137
Purchase of treasury stock 116,483 114,295 57,619
Common stock dividends/distributions $ 2.50 $ 3.84 $ 3.65
Preferred stock dividend shares $ 63.80 $ 63.80 $ 63.80
Common stock awards 298,124 302,507 150,259
Common stock purchase plan 154,756 129,972 126,012
Additional Paid-in Capital [Member]      
Exercise of stock options 61,949 340,684 361,618
Common stock shares issued for cash   266,410 576,002
Common stock awards 298,124 302,507 150,259
Common stock purchase plan 154,756 129,972 126,012
Treasury Stock [Member]      
Purchase of treasury stock 116,483 114,295 57,619
Accumulated Deficit [Member]      
Common stock dividends/distributions $ 2.50 $ 3.84 $ 3.65
Preferred stock dividend shares $ 63.80 $ 63.80 $ 63.80