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Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Consolidated Statements of Changes in Stockholders' Equity [Abstract]      
Cash dividends - per share (in dollars per share) $ 1.05 $ 0.99 $ 0.92
Net issuance of shares to employee benefit plans and other stock plans (in shares) 123,645 130,157 285,059