Leases - Weighted Average Remaining Lease Term and Discount Rate (Details)	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Weighted Average Remaining Lease Term
Operating leases	5 years 3 months 18 days	5 years 1 month 6 days	5 years 2 months 12 days
Weighted Average Discount Rate
Operating leases	2.90%	2.60%	2.90%