Leases - Lease Cost - Other Information (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases
Weighted-average remaining lease term - finance lease (in years)	2 years 9 months 18 days	3 years 3 months 18 days	3 years 7 months 6 days
Weighted-average remaining lease term - operating leases (in years)	1 year 6 months	2 years 10 months 24 days	3 years 3 months 18 days
Weighted-average discount rate - finance lease (as a percent)	5.30%	5.20%	4.60%
Weighted-average discount rate - operating leases (as a percent)	4.90%	4.80%	4.90%