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Restructuring and Other Charges - Additional information (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]          
Additions for costs expensed     $ 0    
Restructuring liability $ 903   903   $ 3,802
2021 Global Strategic Plan          
Restructuring Cost and Reserve [Line Items]          
Additions for costs expensed 600 $ 5,800 1,100 $ 5,800  
Inventory Write-down   $ 5,100   5,100  
Restructuring costs       $ 700  
Restructuring liability $ 2,300   $ 2,300