Leases - Weighted Average Remaining Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted average remaining lease term (in years):
Operating leases	4 years 4 months 2 days	4 years 4 months 20 days
Finance leases	5 years 8 months 8 days	2 years 11 months 4 days
Weighted average discount rate:
Operating leases	4.30%	3.50%
Finance leases	6.30%	3.10%