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Consolidated Statements of Changes in Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Statement of Stockholders' Equity [Abstract] |  |  |  |
Cash dividends declared (in dollars per share) | $ 0.60 | $ 0.58 | $ 1.20 | $ 1.16
Exercise of stock options (in shares) | 13,078 | 2,921 | 13,078 | 11,690
Purchase of treasury shares (in shares) | 208,243 | 216,906 | 246,450 | 292,016

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