Summary of Significant Accounting Policies - Additional information (Details) - USD ($) $ in Billions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Advertising expenses	$ 2.2	$ 2.0	$ 2.1
Amortization period of differences between the expected and actual return on plan assets	5 years

Amount charged to advertising expense for the period, which are expenses incurred with the objective of increasing revenue for a specified brand, product or product line.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 720
-SubTopic 35
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147483406/720-35-50-1

Name:	us-gaap_AdvertisingExpense
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration