Ham with Barbecue Beans

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1 pound dried navy beans, picked over

1 small onion, finely chopped

1/2 cup ketchup

1/4 cup maple syrup

1/4 cup packed dark brown sugar

2 tablespoons yellow mustard

1 1/2 tablespoons molasses

2 teaspoons Worcestershire sauce

1 teaspoon apple cider vinegar

Freshly ground pepper

1 4-to-7-pound bone-in picnic ham