Leases - Schedule of Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted-average remaining lease term:
Operating leases	3 years 7 months 6 days	4 years 6 months
Finance leases	3 years 7 months 6 days	5 years 3 months 18 days
Weighted-average discount rate:
Operating leases	4.70%	4.30%
Finance leases	5.20%	9.40%