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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (UNAUDITED) (Parenthetical) - $ / shares | 3 Months Ended | 9 Months Ended
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Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Statement of Stockholders' Equity [Abstract] |  |  |  |
Common stock, par value (in usd per share) | $ 0.001 |  | $ 0.001 |
Cash dividends (in usd per share) | $ 0.30 | $ 0.2875 | $ 0.90 | $ 0.8625

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