Leases - Assumptions (Details)	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Weighted-average remaining lease term (years)
Operating leases	7 years 9 months 18 days	5 years 9 months 18 days	5 years 10 months 24 days
Finance leases	3 years 7 months 6 days	4 years 2 months 12 days	4 years 9 months 18 days
Weighted-average discount rate
Operating leases	3.50%	2.70%	2.90%
Finance leases	3.40%	3.40%	3.60%