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Consolidated Statements of Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Common stock dividends:        
Dividends on common stock (in dollars per share) $ 0.8 $ 0.7 $ 2.4 $ 2.1