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Share and Unit-based Plans - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Options      
Balance at beginning of year (in shares) 26,371 37,515 37,515
Granted (in shares) 0 0 0
Forfeited (in shares) 0 (11,144) 0
Balance at end of year (in shares) 26,371 26,371 37,515
Weighted Average Exercise Price      
Balance at beginning of year (in dollars per share) $ 54.56 $ 54.34 $ 54.34
Granted (in dollars per share) 0 0 0
Forfeited (in dollars per share) 0 53.82 0
Balance at end of year (in dollars per share) $ 54.56 $ 54.56 $ 54.34