Leases - Assumptions (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted-average remaining lease term (years)
Operating leases	7 years 2 months 12 days	7 years 9 months 18 days	5 years 9 months 18 days
Finance leases	3 years	3 years 7 months 6 days	4 years 2 months 12 days
Weighted-average discount rate
Operating leases	4.00%	3.50%	2.70%
Finance leases	3.90%	3.40%	3.40%