Annual report pursuant to Section 13 and 15(d)

Debt - Summary of Balances of Exchangeable Notes (Parenthetical) (Details)

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Debt - Summary of Balances of Exchangeable Notes (Parenthetical) (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
January 2020 $1,000 Exchangeable Notes due January 31, 2025    
Debt Instrument [Line Items]    
Debt instrument price per unit $ 1,000 $ 1,000
Debt instrument interest rate 6.50% 6.50%
Debt instrument maturity date Jan. 31, 2025 Jan. 31, 2025
September 2020 $1,000 Exchangeable Notes due January 31, 2025    
Debt Instrument [Line Items]    
Debt instrument price per unit $ 1,000 $ 1,000
Debt instrument interest rate 6.50% 6.50%
Debt instrument maturity date Jan. 31, 2025 Jan. 31, 2025
Conversion of $1,000 Exchangeable Notes due January 31, 2025    
Debt Instrument [Line Items]    
Debt instrument price per unit $ 1,000 $ 1,000
Debt instrument interest rate 6.50% 6.50%
Debt instrument maturity date Jan. 31, 2025 Jan. 31, 2025