Income Taxes - Schedule of tax years that remain subject to examination by major tax jurisdictions (Details)	12 Months Ended
	Dec. 31, 2023
United States | Minimum
Valuation Allowance [Line Items]
Open tax year	2007
United States | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
Australia | Minimum
Valuation Allowance [Line Items]
Open tax year	2019
Australia | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
Canada | Minimum
Valuation Allowance [Line Items]
Open tax year	2019
Canada | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
France | Minimum
Valuation Allowance [Line Items]
Open tax year	2022
France | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
Japan | Minimum
Valuation Allowance [Line Items]
Open tax year	2017
Japan | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
Korea | Minimum
Valuation Allowance [Line Items]
Open tax year	2015
Korea | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
Singapore | Minimum
Valuation Allowance [Line Items]
Open tax year	2019
Singapore | Maximum
Valuation Allowance [Line Items]
Open tax year	2022
United Kingdom | Minimum
Valuation Allowance [Line Items]
Open tax year	2022
United Kingdom | Maximum
Valuation Allowance [Line Items]
Open tax year	2022