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Restructuring
 9 Months Ended
Sep. 30, 2023
Restructuring and Related Activities [Abstract]  
Restructuring Restructuring
As part of our ongoing transformation, the Company incurred restructuring costs of $2.0 million and $21.9 million for the three and nine months ended September 30, 2023, respectively. The following table summarizes restructuring activities as of September 30, 2023 included in other current liabilities on the balance sheet:
Salaries and other benefits
Restructuring liability as of January 1, 2023$— 
Restructuring charge21,934 
Amounts paid (11,826)
Restructuring liability as of September 30, 2023
$10,108 
For the three and nine months ended September 30, 2023, $0.1 million, and $3.5 million, respectively, was included in Research and Development expenses, $2.1 million and $4.8 million, respectively, was included in General and Administrative expenses and $(0.2) million and $13.6 million, respectively, was included in Sales and Operations expenses.