Leases - Lease Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted average remaining lease term
Operating leases	5 years 3 months	6 years 2 months 15 days
Finance leases	3 years 6 months	2 years 10 months 2 days
Weighted average discount rate
Operating leases	6.40%	5.43%
Finance leases	5.51%	3.92%