Leases - Summary of Weighted Average Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted-average remaining lease term (in years)
Operating	5 years 3 months 21 days	5 years 3 months 25 days
Finance	3 years 6 months	3 years 9 months
Weighted-average discount rate
Operating	6.50%	4.94%
Finance	6.47%	6.02%