Restructuring and Other Charges - Additional information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]
Additions for costs expensed	$ 0
2021 Global Strategic Plan
Restructuring Cost and Reserve [Line Items]
Additions for costs expensed	$ 0	$ 1,700,000