In any zoning district in which single-family residential buildings are permitted, a single-family residential building and associated accessory buildings may be erected on any single lot of record existing on the date of adoption or amendment of this chapter. Such a lot must be in separate ownership and not of continuous frontage with other lots in the same ownership. This provision shall apply even though the lot fails to meet the zoning district's requirements for area or width, or both, provided that the lot conforms to the zoning district's setback dimensions and other requirements not involving area or width, or both. Variance of area, width and setback requirements shall be obtained only through action of the Zoning Hearing Board.