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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stockholders' Equity Attributable to Parent |  |  |
Common dividends declared - per share (in dollars per share) | $ 3.08 | $ 2.94 | $ 2.72
Issuance of shares of common stock, common stock offering, net of expenses (in shares) | 709,924 | 2,388,342 | 1,706,474
Issuance of shares of common stock, options exercised (in shares) | 0 | 0 | 0
Issuance of shares of common stock, dividend reinvestment plan (in shares) | 0 | 1,893 | 1,844
Withheld shares of common stock to satisfy tax withholding obligations in connection with the vesting of restricted stock (in shares) | 36,445 | 28,955 | 23,824

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