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Restructuring Charges - Changes to accrued liability balance (Details)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
USD ($)
Sep. 30, 2023
USD ($)
Changes to accrued liability balance related to restructuring    
Restructuring charges $ 592 $ 1,554
Payments   (1,343)
Balance at end of period 211 211
2023 Restructuring Plan    
Restructuring charges    
Expected additional charges $ 0 $ 0