Leases - Other information related to finance lease (Details)	Dec. 31, 2023	Dec. 31, 2022
Weighted-average remaining lease term (in years):
Finance leases	3 years 2 months 12 days	4 years 2 months 12 days
Operating leases	7 years 4 months 24 days	7 years 2 months 12 days
Weighted-average discount rate:
Finance leases	5.08%	4.84%
Operating leases	5.38%	5.20%