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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Common stock, par value beginning balance $ 0.001 $ 0.001
Options exercised, shares 114,507 80,660
Conversion of common stock units, shares 15,629 8,293
Conversion of restricted stock units, shares 188,207 191,998
Cash dividends, per share $ 0.795 $ 0.750
Treasury stock, beginning balance, shares 23,971,522 23,308,430
Treasury stock, acquisition of shares 701,410 476,498
Treasury stock, ending balance, shares 24,672,932 23,784,928