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Stockholders' Equity and Restrictions Change in Common Shares (Details) - shares | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Mar. 04, 2004
Class of Stock [Line Items] |  |  |  |
Common stock, shares authorized (in shares) |  |  |  | 127,000,000
Treasury Stock [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common Stock, Shares, Issued | 4,937,000 | 4,138,000 | 3,136,000 |
Common Stock Class A [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common Stock, Shares, Issued | 53,758,176 | 53,170,413 | 52,654,000 |
Common stock, shares authorized (in shares) | 100,000,000 | 100,000,000 |  | 100,000,000
Stock Issued During Period, Shares, New Issues | 22,000 |  |  |
Deferred Compensation Arrangement with Individual, Shares Issued | 91,000 | 112,000 |  |
Stock Repurchased During Period, Shares | 0 | 0 |  |
Treasury Stock, Shares, Acquired | 799,000 |  |  |
Common Stock Class A [Member] | Stock Investment Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | 475,000 | 404,000 |  |
Common Stock Class B [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common Stock, Shares, Issued | 1,001,714 | 1,001,714 | 1,002,000 |
Common stock, shares authorized (in shares) | 2,000,000 | 2,000,000 |  | 2,000,000
Stock Issued During Period, Shares, New Issues | 0 |  |  |
Deferred Compensation Arrangement with Individual, Shares Issued | 0 | 0 |  |
Stock Repurchased During Period, Shares | 0 | 0 |  |
Treasury Stock, Shares, Acquired |  | 1,002,000 |  |
Common Stock Class B [Member] | Stock Investment Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | 0 | 0 |  |
Preferred Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common stock, shares authorized (in shares) |  |  |  | 25,000,000
Treasury Stock [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | 0 |  |  |
Deferred Compensation Arrangement with Individual, Shares Issued | 0 | 0 |  |
Treasury Stock [Member] | Stock Investment Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stock Issued During Period, Shares, New Issues | 0 | 0 |  |

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