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Condensed Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Condensed Consolidated Statements of Changes in Shareholders' Equity      
Cash dividends declared, per share (in dollars per share) $ 1.67 $ 1.38 $ 1.32