Leases - Weighted Average Remaining Lease Terms and Discount Rates (Details)	Dec. 31, 2022	Dec. 31, 2021
Weighted average remaining lease term:
Operating leases	8 years 7 months 6 days	8 years 10 months 24 days
Finance leases	3 years 3 months 18 days	3 years 6 months
Weighted average discount rate:
Operating leases	10.30%	9.60%
Finance leases	6.90%	7.60%