Leases - Weighted Average Remaining Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Weighted-average remaining lease term - operating leases	10 years 7 months 24 days	10 years 11 months 19 days
Weighted-average remaining lease term - finance leases	9 years 1 month 20 days	9 years 5 months 19 days
Weighted-average discount rate - operating leases (in percent)	3.17%	2.48%
Weighted-average discount rate - finance leases (in percent)	3.41%	2.92%