Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]
Stock issued for employee stock purchase plan, shares (in shares)			60,697	43,681
Stock issued for compensation plans, shares (in shares)	22,767	29,392	401,993	273,835
Stock repurchased (in shares)	1,806,205		1,937,121	4,922,336
Cash dividends per share (in dollars per share)	$ 0.18	$ 0.17	$ 0.54	$ 0.51