Debt - Schedule of Weighted Average Interest Rates (Details) - Weighted Average	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Debt instrument, interest rate during period	5.20%	4.30%	4.70%
Short-term debt
Debt Instrument [Line Items]
Debt instrument, interest rate during period	6.90%	4.00%	0.90%