Leases - Lease term and discount rate (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Weighted-average remaining lease term, operating leases (years)	5 years 8 months 12 days	5 years 10 months 24 days	6 years 2 months 12 days
Weighted-average remaining lease term, finance leases (years)	1 year 7 months 6 days	2 years 1 month 6 days	2 years
Weighted-average discount rate, operating leases (percentage)	5.40%	5.20%	5.20%
Weighted-average discount rate, finance leases (percentage)	4.10%	3.90%	4.60%