Leases - Lease Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Weighted average discount rate - operating leases	4.30%	4.20%
Weighted average discount rate - finance leases	8.30%	6.10%
Weighted average remaining lease term in years - operating leases	6 years 4 months 24 days	7 years 2 months 12 days
Weighted average remaining lease term in years - finance leases	4 years 1 month 6 days	2 years