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Consolidated statements of changes in shareholders' equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]        
Dividends declared (USD per share) $ 0.11 $ 0.09 $ 0.33 $ 0.27