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Restructuring - Additional Information (Details) | 1 Months Ended | 12 Months Ended
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Jul. 31, 2020 Employee | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Restructuring Cost And Reserve [Line Items] |  |  |  |
Restructuring and related activities, initiation date | Jul. 31, 2020 |  |  |
Restructuring and related activities, completion date | Dec. 31, 2020 |  |  |
Business Transformation Plan |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |
Number of employees terminated | Employee | 139 |  |  |
Percentage of workforce has been terminated | 7.00% |  |  |
Restructuring-related expenses |  | $ 0 | $ 0 |
Business Transformation Plan | Severance and Other Benefit Costs |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |
Restructuring-related expenses |  |  |  | $ 4,400,000

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- Definition Date the restructuring activities were initiated or are expected to be initiated, in YYYY-MM-DD format. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(a)) -URI https://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=6394359&loc=d3e17939-110869 + Details
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