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Restructuring Expenses - Narrative (Details) - USD ($) | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring expenses | $ (581,000) | $ 1,794,000 | $ 5,454,000 | $ 5,321,000 |
Q1 2022 Plan |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring expenses |  | $ 1,800,000 |  | $ 5,300,000 |
Unpaid balance related to restructuring plan | 0 |  | 0 |  |
Q4 2022/Q1 2023 Plan |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring expenses |  |  | 5,500,000 |  |
Restructuring and related cost, cost incurred to date | 22,900,000 |  | 22,900,000 |  |
Unpaid balance related to restructuring plan | $ 1,000,000 |  | $ 1,000,000 |  | $ 18,200,000

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