Condensed Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Condensed Consolidated Statements of Shareholders' Equity [Abstract]
Cash dividends declared (in dollars per share)	$ 0.21	$ 0.20	$ 0.42	$ 0.40
Repurchase of shares of common stock (in shares)	163,338		344,005	678,929
Issuance of shares of common stock (in shares)	18,400	350	37,450	11,917
Share based compensation, common stock (in shares)	8,871	0	117,946	93,882
Share based compensation withholding obligation, common stock (in shares)	4,755	156	32,279	28,330