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Consolidated statements of changes in shareholders' equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Statement of Stockholders' Equity [Abstract]        
Cash dividends declared (USD per share) $ 0.08 $ 0.06 $ 0.24 $ 0.12