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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement Of Stockholders Equity [Abstract]        
Dividends, per share $ 0.37 $ 0.31 $ 1.01 $ 0.93