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Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Statement of Stockholders' Equity [Abstract]      
Cash dividend per share (in dollars per share) $ 0.68 $ 0.68 $ 0.62
Purchase of common stock, shares 648,851 1,127,557 459,251