Condensed Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Condensed Consolidated Statements of Shareholders' Equity [Abstract]
Cash dividends declared (in dollars per share)	$ 0.21	$ 0.20	$ 0.63	$ 0.60
Repurchase of shares of common stock (in shares)	315,345		659,350	678,929
Issuance of shares of common stock (in shares)	1,200		38,650	11,917
Share based compensation, common stock (in shares)	6,268	10,583	124,214	104,465
Share based compensation withholding obligation, common stock (in shares)	3,943	5,398	36,222	33,728