Baked Beans with Apple

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4 slices thick-cut bacon, cut into lardons

1 Granny Smith apple, peeled and cut into 1/2-inch pieces 

1 medium onion, chopped 

Three 15-ounce cans navy beans 

1/2 cup ketchup 

1/4 cup molasses 

1/4 cup dark brown sugar 

1 tablespoon Dijon mustard 

1 tablespoon apple cider vinegar 

Kosher salt and freshly ground black pepper