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Consolidated Statements of Stockholders' Deficit (Parenthetical) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Statement of Stockholders' Equity [Abstract]        
Dividends $ 1.15 $ 1.10 $ 2.25 $ 2.16
Pension and post-retirement liability changes, tax expense 200,000 0.0 200,000  
Change in cash flow hedges, tax expense $ 600,000 $ (1,400,000) $ 100,000 $ (400,000)