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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]      
Cash dividends (in dollars per share) $ 2.40 $ 2.31 $ 2.19
Net exercise of stock options (in shares) 1,996 6,465 13,498
Common stock repurchased and returned to unissued status (in shares) 150,000 197,979 304,513
Directors deferred compensation plan (in shares) 3,348 4,040 140
Restricted stock activity (in shares) 34,093 12,890 23,505
Shares issued for employee stock ownership plan (in shares)   37,454 32