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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Stockholders' Equity Attributable to Parent |  |  |
Common dividends declared - per share (in dollars per share) | $ 2.94 | $ 2.72 | $ 2.52
Issuance of shares of common stock, common stock offering, net of expenses (in shares) | 2,388,342 | 1,706,474 | 1,370,457
Issuance of shares of common stock, options exercised (in shares) | 0 | 0 | 0
Issuance of shares of common stock, dividend reinvestment plan (in shares) | 1,893 | 1,844 | 2,744
Withheld shares of common stock to satisfy tax withholding obligations in connection with the vesting of restricted stock (in shares) | 28,955 | 23,824 | 33,695

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