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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Capital stock, par value (in dollars per share) $ 1 $ 1
Serial preferred stock, shares authorized (in shares) 632,470 632,470
Serial preferred stock, shares issued (in shares) 0 0
Serial preferred stock, shares outstanding (in shares) 0 0
Common stock, shares authorized (in shares) 40,000,000 40,000,000
Common stock, shares issued (in shares) 16,148,791 15,706,398
Treasury stock, shares (in shares) 3,560,010 3,040,623