Leases - Lease Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Weighted-average remaining operating lease term (years)	3 years 2 months 12 days	3 years 7 months 6 days
Weighted-average remaining finance lease term (years)	2 years 6 months	2 years 4 months 24 days
Weighted-average discount rate for operating leases	4.50%	4.50%
Weighted-average discount rate for finance leases	5.40%	5.40%