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Restructuring Charges - Schedule of Restructuring Reserve by Type of Cost (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Reserve [Roll Forward] |  |  |
Restructuring charges | $ 1,657 | $ 0 | $ 15,924
One-time Termination Benefits [Member] |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Restructuring charges | 1,584 |  | 10,159
Contract Termination [Member] |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Restructuring charges | 73 |  | 5,207
Other Restructuring [Member] |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Restructuring charges |  |  | 558
Accrued Liabilities [Member] | May 2020 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 998 | 2,389 |
Cash payments | (747) | (1,384) |
Foreign exchange rate changes | (6) | (7) |
Balance as of December 31, 2021 | 245 | 998 | 2,389
Accrued Liabilities [Member] | December 2022 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 0 |  |
Restructuring charges | (1,657) |  |
Cash payments | (646) |  |
Foreign exchange rate changes | 28 |  |
Balance as of December 31, 2021 | 1,039 | 0 |
Accrued Liabilities [Member] | One-time Termination Benefits [Member] | May 2020 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 482 | 1,624 |
Cash payments | (482) | (1,142) |
Foreign exchange rate changes | 0 | 0 |
Balance as of December 31, 2021 | 0 | 482 | 1,624
Accrued Liabilities [Member] | One-time Termination Benefits [Member] | December 2022 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 0 |  |
Restructuring charges | (1,584) |  |
Cash payments | (646) |  |
Foreign exchange rate changes | 26 |  |
Balance as of December 31, 2021 | 964 | 0 |
Accrued Liabilities [Member] | Contract Termination [Member] | May 2020 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 516 | 750 |
Cash payments | (265) | (227) |
Foreign exchange rate changes | (6) | (7) |
Balance as of December 31, 2021 | 245 | 516 | 750
Accrued Liabilities [Member] | Contract Termination [Member] | December 2022 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 0 |  |
Restructuring charges | (73) |  |
Cash payments | 0 |  |
Foreign exchange rate changes | 2 |  |
Balance as of December 31, 2021 | 75 | 0 |
Accrued Liabilities [Member] | Other Restructuring [Member] | May 2020 |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance as of December 31, 2020 | 0 | 15 |
Cash payments | 0 | (15) |
Foreign exchange rate changes | 0 | 0 |
Balance as of December 31, 2021 | $ 0 | $ 0 | $ 15

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- Definition Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 45 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=109237686&loc=d3e17752-110868 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 5.P.3) -URI https://asc.fasb.org/extlink&oid=115931487&loc=d3e140864-122747 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(b)(1)) -URI https://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 + Details
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- Definition Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI https://asc.fasb.org/extlink&oid=6394359&loc=d3e17939-110869 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB TOPIC 5.P.4(b)(2)) -URI https://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 + Details
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