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Stock-Based Compensation Assumptions used in Estimating the Fair Value for Options Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement [Abstract]      
Dividend yield 3.50% 3.30% 2.50%
Risk-free interest rate 1.60% 2.60% 2.60%
Weighted average expected volatility 21.00% 24.00% 22.00%
Weighted average expected life 5 years 9 months 5 years 9 months 5 years 9 months
Weighted average per share fair value of options $ 2.39 $ 4.00 $ 4.47