Leases - Lease Terms and Discount Rates (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted-average remaining lease term (years):
Finance leases	3 years 6 months 25 days	3 years 6 months 14 days	3 years 7 months 6 days
Operating leases	2 years 11 months 1 day	3 years 6 months 7 days	3 years 10 months 6 days
Weighted-average discount rate:
Finance leases	5.60%	3.50%	2.60%
Operating leases	4.30%	4.00%	3.80%