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Consolidated Statements of Stockholders' Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Consolidated Statements of Stockholders' Equity (unaudited) [Abstract]    
Cash dividends - per share (in dollars per share) $ 0.27 $ 0.54
Purchase of treasury shares (in shares) 257,031 263,507
Net issuance of shares to employee benefit plans and other stock plans (in shares) 53,139 54,341