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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]      
Issuance of common stock for dividend reinvestment plan (in shares) 47,157 42,438 42,872
Cash dividends paid on common stock $ 1.30 $ 1.26 $ 1.20
Purchase of common stock 1,035,901 66,467 1,459,148
Net issuance of common stock under employee stock plan (in shares) 116,661 122,537 140,692