Cranberry - Walnut Relish

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1/2 cup granulated sugar

1/4 cup loosely packed dark brown sugar

1/4 cup maple syrup

3/4 cup water

1 tablespoon ground cinnamon

1 teaspoon freshly grated nutmeg

1 pound fresh or frozen cranberries

4 naval oranges, peeled and divided into segments

1/2 cup coarsely chopped walnut pieces