Leases Supplemental lease information (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Weighted-average remaining operating leases term	8 years 7 months 6 days	9 years
Weighted-average remaining finance leases term	7 years 9 months 18 days	8 years 3 months 18 days
Weighted-average operating leases discount rate	3.50%	3.00%
Weighted-average finance leases discount rate	6.20%	6.40%