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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 6 Months Ended
Jun. 30, 2016
Jun. 30, 2015
Common stock, par value beginning balance $ 0.001 $ 0.001
Options exercised, shares 94,225 74,233
Conversion of common stock units, shares 8,538 8,293
Conversion of restricted stock units, shares 171,042 182,888
Cash dividends, per share $ 0.53 $ 0.50
Treasury stock, beginning balance, shares 23,971,522 23,308,430
Treasury stock, acquisition of shares 701,410 23,500
Treasury stock, ending balance, shares 24,672,932 23,331,930