Leases - Schedule of Weighted-Average Remaining Lease Term and Weighted-Average Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Weighted-average remaining lease term, operating leases	6 years 2 months 12 days	6 years 8 months 12 days	7 years 1 month 6 days
Weighted-average remaining lease term, finance leases	9 years 6 months	9 years	6 years 4 months 24 days
Weighted-average discount rate, operating leases	3.20%	2.60%	2.10%
Weighted-average discount rate, finance leases	5.90%	5.70%	5.80%