Leases - Weighted Average Remaining Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted average remaining lease term:
Operating leases	7 years 4 months 24 days	8 years 7 months 6 days
Finance leases	3 years 2 months 12 days	3 years 3 months 18 days
Weighted average discount rate:
Operating leases	10.60%	10.30%
Finance leases	9.50%	6.90%