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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, par value (usd per share) $ 1 $ 1
Common stock, shares authorized 100,000,000 100,000,000
Common stock, shares, issued 68,265,042 66,140,396
Treasury stock, shares 68,073 36,726