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Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Statement of Stockholders' Equity [Abstract]        
Cash dividends declared per share (in usd per share) $ 0.36 $ 0.34 $ 1.04 $ 1.02