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Restructuring - Summary of restructuring activities included in other current liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2023
Restructuring Cost and Reserve [Line Items]    
Restructuring liability, beginning balance   $ 0
Restructuring charge $ 2,000 21,934
Amounts paid   (11,826)
Restructuring liability, ending balance 10,108 10,108
Research and Development    
Restructuring Cost and Reserve [Line Items]    
Restructuring charge 100 3,500
General and Administrative    
Restructuring Cost and Reserve [Line Items]    
Restructuring charge $ 2,100 4,800
Sales and Operations Expenses    
Restructuring Cost and Reserve [Line Items]    
Restructuring charge   $ 13,600