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Consolidated Statements of Changes in Equity (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Statement of Stockholders' Equity [Abstract]        
Dividends declared (in USD per share) $ 0.2575 $ 0.255 $ 0.515 $ 0.51