Leases - Additional information (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases
Weighted-average remaining lease term - finance leases	2 years 10 months 24 days	1 year 10 months 24 days
Weighted-average remaining lease term - operating leases	7 years 4 months 24 days	7 years 10 months 24 days
Weighted-average discount rate - finance leases	3.30%	1.90%
Weighted-average discount rate - operating leases	4.20%	3.40%