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Condensed Consolidated Statements of Changes in Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Sep. 30, 2015
Jun. 30, 2015
Mar. 31, 2015
Sep. 30, 2016
Sep. 30, 2015
Statement of Stockholders' Equity [Abstract]                
Cash dividends declared per share (in $ per share) $ 0.45 $ 0.45 $ 0.45 $ 0.45 $ 0.45 $ 0.45 $ 1.35 $ 1.35