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Leases - Schedule of Lease Terms and Discount Rates (Details)
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Weighted average remaining lease terms (years)      
Operating leases 7 years 9 months 18 days 8 years 4 months 24 days 9 years 2 months 12 days
Finance leases 3 years 6 months 4 years 2 months 12 days 4 years 4 months 24 days
Weighted-average discount rate      
Operating leases 7.10% 7.10% 7.20%
Finance leases 5.90% 5.70% 5.40%