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Consolidated Statements of Changes in Equity (Parenthetical) - $ / shares
Jun. 30, 2024
Mar. 31, 2024
Dec. 31, 2023
Jun. 30, 2023
Mar. 31, 2023
Statement of Stockholders' Equity [Abstract]          
Common stock, par value (in usd per share) $ 2 $ 2 $ 2 $ 2 $ 2