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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Statement of Stockholders' Equity [Abstract]        
Cash dividends, per share $ 26 $ 20 $ 26 $ 20
Stock issued pursuant to stock-based compensation 795 1,787 36,062 34,215
Shares repurchased during period     154,593 18,656