CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]
Cash dividends (in dollars per share)	$ 1.88	$ 1.72	$ 1.72
Reacquisition on open market, shares (in shares)	1,959,069	943,048	1,221,233
Exercise of stock options, net of shares reacquired (in shares)	324,465	553,655	183,320