Place a large pot or Dutch oven on the stove over medium-high heat.
Add the ground beef, break it up, and cook until browned, 7–9 minutes. Drain excess grease if needed.
Add onion, celery, and bell pepper. Cook 5–6 minutes until softened. Add garlic and cook 30 seconds.
Stir in chili powder, cumin, paprika, salt, and pepper for 30–60 seconds.
Add tomato paste and stir 30 seconds.
Add kidney beans, pinto beans, diced tomatoes, tomato sauce, broth, Worcestershire (optional), and sugar (optional). Stir well.
Bring to a gentle simmer, reduce heat to low, and simmer 45–60 minutes, stirring occasionally.
Taste and adjust seasoning. Simmer uncovered to thicken if needed, or add broth if too thick.
Rest 10 minutes, then serve warm with desired toppings.