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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]      
Issuance of common stock for dividend reinvestment plan (in shares) 38,884 31,853 34,150
Common Stock purchased (in shares) 1,435,193 923,775 938,484
Net issuance of common stock under employee stock plan (in shares) 99,109 86,500 305,212
Cash dividends paid on common stock (in dollars per share) $ 1.42 $ 1.40 $ 1.37