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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Statement of Stockholders' Equity [Abstract] |  |  |  |
Stock issued for employee stock purchase plan, shares (in shares) |  |  | 60,697 | 43,681
Stock issued for compensation plans, shares (in shares) | 22,767 | 29,392 | 401,993 | 273,835
Stock repurchased (in shares) | 1,806,205 |  | 1,937,121 | 4,922,336
Cash dividends per share (in dollars per share) | $ 0.18 | $ 0.17 | $ 0.54 | $ 0.51

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