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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) (Unaudited) - $ / shares | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2019 | Dec. 31, 2018
Statement of Stockholders' Equity [Abstract] |  |  |  |  |  |  |  |  |  |
Dividend declared (in dollars per share) | $ 0.4400 | $ 0.4400 | $ 0.4050 | $ 0.4050 | $ 0.4050 | $ 0.3700 | $ 1.285 | $ 1.18 |  |
Deferred compensation plan held Rabbi Trust (shares) | 104,119 |  |  | 94,923 |  |  | 104,119 | 94,923 | 95,329 | 97,053
Preferred Stock, Shares Authorized | 2,000,000 |  |  |  |  |  | 2,000,000 |  | 2,000,000 |
Preferred Stock, Par or Stated Value Per Share | $ 0.01 |  |  |  |  |  | $ 0.01 |  | $ 0.01 |
Shares issued under the performance incentive plan withheld for employee taxes (shares) |  |  |  |  |  |  | 10,319 | 7,635 |  |

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