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Statements of Shareholders' Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]        
Per share amount of cash dividends declared (in dollars per share) $ 0.14 $ 0.135 $ 0.415 $ 0.40