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Consolidated Statements of Stockholders' Equity (unaudited) (Parenthetical) - $ / shares
9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Consolidated Statements of Stockholders' Equity (unaudited) [Abstract]    
Cash dividends - per share (in dollars per share) $ 0.69 $ 0.67
Purchase of treasury shares (in shares)   675,535
Net issuance of shares to employee benefit plans and other stock plans, including tax benefit (in shares) 271,148 389,058