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Consolidated Statements of Stockholders' Equity (Parenthetical)
 12 Months Ended
Dec. 31, 2016
$ / shares
shares
Dec. 31, 2015
$ / shares
shares
Dec. 31, 2014
$ / shares
shares
Dividend reinvestment plan, shares 38,741 50,013 58,309
Stock purchase and compensation plans, shares 720,323 863,426 769,389
Dividends to stockholders, per share | $ / shares $ 0.61 $ 0.57 $ 0.53
Acquisition of treasury stock, shares 152,595 147,461 154,559
Preferred stock, par value per share | $ / shares $ 0 $ 0 $ 0
Preferred stock, shares authorized 5,000,000 5,000,000 5,000,000
Preferred stock, shares issued 0 0 0
Series A Preferred Stock [Member]      
Preferred stock, par value per share | $ / shares $ 0 $ 0 $ 0
Preferred stock, shares authorized 300,000 300,000 300,000