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Consolidated Statements of Stockholders' Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Consolidated Statements of Stockholders' Equity (unaudited) [Abstract]        
Cash dividends - per share (in dollars per share) $ 0.27 $ 0.26 $ 0.81 $ 0.78
Purchase of treasury shares (in shares)     263,507  
Net issuance of shares to employee benefit plans and other stock plans (in shares) 3,030 17,234 78,276 113,679