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Restructuring - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Severance and employee benefit costs $ 4,503,000    
Impairment of assets 10,081,000 $ 0 $ 0
ROU Facility Leases      
Restructuring Cost and Reserve [Line Items]      
Operating lease, impairment loss 5,900,000    
Employee Severance      
Restructuring Cost and Reserve [Line Items]      
Severance and employee benefit costs $ 4,500,000 $ 0 $ 0