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Consolidated Statements of Stockholders' Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]      
Dividends per share $ 0.20 $ 0.60 $ 0.57
Treasury shares     106,894
Stock Issued During Period, Shares, Restricted Stock Award, Gross 2,880 2,880 17,350
Exercise of stock option, shares 152 5,918 3,136