Leases - Weighted Average Remaining Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted average remaining lease term, weighted based on lease liability balances:
Operating leases (in years)	5 years 7 months 6 days	6 years 2 months 12 days
Finance leases (in years)	3 years 7 months 6 days	3 years 8 months 12 days
Weighted average discount rate, weighted based on remaining balance of lease payments:
Operating leases	4.40%	3.90%
Finance leases	6.70%	3.50%