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Consolidated balance sheets (Parenthetical) - $ / shares
Sep. 30, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 1 $ 1
Common stock, shares authorized (in shares) 75,000,000 75,000,000
Common stock, shares issued (in shares) 30,927,664 30,724,532
Common stock, shares outstanding (in shares) 30,927,664 30,724,532