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Shareholders' Equity - Stock Repurchase Program (Details) - $ / shares | Dec. 31, 2023 | Dec. 31, 2022 | Feb. 17, 2021
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Equity, Class of Treasury Stock [Line Items] |  |  |
Common stock, shares authorized (in shares) | 24,000,000 | 24,000,000 |
Common stock, par value (in dollars per share) | $ 1 | $ 1 |
Amended Share Repurchase Program |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Number of shares authorized to be repurchased (in shares) | 536,871 |  | 790,383

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