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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Increase (Decrease) in Stockholders' Equity [Roll forward]      
Other comprehensive income (loss), tax $ 3,273 $ 3,403 $ (960)
Cash dividends declared (in dollars per share) $ 1.53 $ 1.48 $ 1.38