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Income from Continuing Operations Per Unrestricted Share - Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock Options      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 3,600,000 2,400,000 2,200,000