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Equity and Noncontrolling Interest - Per Share Data (Details) - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Weighted average common shares outstanding - Basic 24,051 23,964 23,655
Effect of dilutive options (in shares) 2 8 7
Weighted average common shares outstanding - Diluted 24,053 23,972 23,662
Average share price (in usd per share) $ 37.47 $ 46.21 $ 43.53
Options      
Class of Stock [Line Items]      
Non-dilutive options (in shares) 1,668 1,438 1,360