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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - shares
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Statement of Stockholders' Equity [Abstract]      
Reacquisition on open market, shares 331,632 0 398,095
Exercise of stock options, net of shares reacquired 620,927 681,173 302,521