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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, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Statement of Stockholders' Equity [Abstract] |  |  |  |
Cash dividends declared (in dollars per share) | $ 0.58 | $ 0.57 | $ 1.74 | $ 1.71
Exercise of stock options (in shares) | 1,408 | 755 | 13,098 | 4,921
Purchase of treasury shares (in shares) | 336,793 | 230,861 | 628,809 | 491,998

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