Leases - Supplemental Information (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Weighted-average remaining lease term (in years)	5 years	5 years 2 months 12 days	5 years 4 months 24 days
Weighted-average incremental borrowing rate (as a percent)	5.10%	5.00%	5.10%