Leases - Operating Leases (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Weighted average remaining lease term	8 years 4 months 24 days	9 years 3 months 18 days	10 years 1 month 6 days
Weighted average discount rate	5.00%	5.00%	5.00%