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Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Consolidated Statements of Changes in Stockholders' Equity [Abstract]      
Cash dividends - per share (in dollars per share) $ 1.10 $ 1.08 $ 1.05
Purchase of treasury shares (in shares) 604,637 263,507  
Net issuance of shares to employee benefit plans and other stock plans (in shares) 143,555 95,990 123,645