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Special Charges, Including Business Realignment Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Mar. 30, 2016
Business Acquisition [Line Items]        
Special Charges, Including Business Realignment Costs $ 2,921 $ 3,126 $ 8,554  
Parent Company [Member] | Series B Senior Notes [Member]        
Business Acquisition [Line Items]        
Debt Instrument, Interest Rate, Stated Percentage       5.23%