CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Statement of Stockholders' Equity [Abstract]
Cash dividends (in dollars per share)	$ 1.72	$ 1.56	$ 1.40
Reacquisition on open market, shares (in shares)	1,221,233	987,630	582,066
Exercise of stock options, net of shares reacquired (in shares)	183,320	218,540	449,948