Leases - Weighted Average Remaining Lease Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted Average Remaining Lease Term
Operating leases	5 years 7 months 6 days	5 years 3 months 18 days	5 years 1 month 6 days
Weighted Average Discount Rate
Operating leases	3.80%	2.90%	2.60%