CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Statement of Stockholders' Equity [Abstract]
Cash dividends (in dollars per share)	$ 1.56	$ 1.40	$ 1.32
Reacquisition on open market, shares (in shares)	987,630	582,066	331,632
Exercise of stock options, net of shares reacquired (in shares)	449,948	620,927	681,173