Commitments and Contingencies - Information Regarding Weighted-Average Remaining Lease Term and Weighted-Average Discount Rate for Operating Leases (Details)	Dec. 31, 2023	Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating leases, weighted-average remaining lease term	4 years 6 months	4 years 7 months 6 days
Financing leases, weighted-average remaining lease term	1 year 8 months 12 days	2 years 8 months 12 days
Operating leases, weighted-average discount rate	3.90%	3.30%
Financing leases, weighted-average discount rate	2.10%	2.40%