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CONSOLIDATED STATEMENTS OF EQUITY (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Periodic pension costs (benefit), net of income taxes $ (184) $ 940 $ 448
Excise taxes paid on repurchases of common stock $ 384    
Special Dividend Paid | Sub-share Certificates      
Cash dividends per share of common stock (in USD per share)   $ 20.00  
Dividends accrued per common stock (in dollars per share)   20.00  
Dividend Paid      
Cash dividends per share of common stock (in USD per share) $ 13.00 12.00 $ 11.00
Dividends accrued per common stock (in dollars per share) $ 13.00 $ 12.00 $ 11.00