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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Statement of Stockholders' Equity [Abstract]        
Cash dividends, per share $ 0.27 $ 0.26 $ 0.27 $ 0.26
Stock issued pursuant to stock-based compensation 1,165 795 67,790 36,062
Shares repurchased during period     128,779 154,593