Leases - Term and Discount Rate (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted average remaining lease terms
Operating leases	8 years 7 months 6 days	9 years 4 months 24 days	9 years 4 months 24 days
Finance leases	13 years 8 months 12 days	14 years 7 months 6 days	14 years 10 months 24 days
Weighted average discount rate
Operating leases	9.50%	9.40%	8.90%
Finance leases	10.70%	9.90%	9.60%