Income Taxes - Schedule of Tax Years that Remain Subject to Examination for the Company's Major Tax Jurisdictions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
United States - federal income tax | Minimum
Income Taxes
Tax years subject to examination	2020	2020
United States - federal income tax | Maximum
Income Taxes
Tax years subject to examination	2023	2023
United States - state and local income tax | Minimum
Income Taxes
Tax years subject to examination	2019	2019
United States - state and local income tax | Maximum
Income Taxes
Tax years subject to examination	2023	2023
Foreign - Canada and Puerto Rico | Minimum
Income Taxes
Tax years subject to examination	2019	2019
Foreign - Canada and Puerto Rico | Maximum
Income Taxes
Tax years subject to examination	2023	2023