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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Statement of Stockholders' Equity [Abstract]      
Cash dividends, per share $ 1.05 $ 0.89 $ 0.72
Stock issued pursuant to stock-based compensation 34,810 33,039 29,378
Stock Issued During Period, Shares, Purchase of Assets 154,593 169,143 50,215