Condensed Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Condensed Consolidated Statements of Shareholders' Equity [Abstract]
Cash dividends declared (in dollars per share)	$ 0.21	$ 0.20
Repurchase of shares of common stock (in shares)	180,667	678,929
Issuance of shares of common stock (in shares)	19,050	11,567
Share based compensation, common stock (in shares)	109,075	105,894
Share based compensation withholding obligation, common stock (in shares)	27,524	28,174