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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Issuance of common stock (in shares) 101,912 113,373 114,935
Issuance of common stock purchased under the Employee Stock Purchase Plan (in shares) 7,720 8,172 6,892
Forfeiture of common stock (in shares) 5,255 3,296 3,934
Cash dividends (in dollars per share) $ 0.82 $ 0.750 $ 0.700
Purchase of common stock (in shares) 89,124 116,962 46,966