Leases - Lease Term and Discount Rate (Details)	Mar. 31, 2024	Dec. 31, 2023
Leases [Abstract]
Weighted-average remaining operating lease term (years)	3 years 1 month 6 days	3 years 2 months 12 days
Weighted-average remaining finance lease term (years)	2 years 10 months 24 days	2 years 6 months
Weighted average discount rate for operating leases (percent)	4.50%	4.50%
Weighted average discount rate for finance leases (percent)	5.40%	5.40%