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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Statement of Stockholders' Equity [Abstract]      
Cash dividends declared per share of common stock $ 0.91 $ 0.87 $ 0.81
Common stock issued, price per share (in dollars per share) $ 54.13 $ 57.41 $ 44.26