Leases - Schedule of Weighted Average Remaining Lease Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Operating leases, weighted-average remaining lease term (years)	6 years 6 months 7 days	6 years 10 months 13 days
Finance lease, weighted-average remaining lease term (years)	5 years 7 months 6 days	6 years 7 months 6 days
Operating leases, weighted-average discount rate (percent)	3.02%	2.86%
Finance lease, weighted-average discount rate (percent)	5.63%	5.63%