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Goodwill and Intangible Assets - Additional Information (Details) - USD ($)
12 Months Ended
Oct. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]        
Goodwill impairment $ 0 $ 0 $ 0 $ 0
Impairment losses related to finite-lived intangible assets   2,811,000 0  
IPR&D impairment losses   $ 0 $ 0 $ 0