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Restructuring (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2022
USD ($)
Restructuring Cost and Reserve [Line Items]  
Restructuring costs $ 1.0
Research and Development Expense  
Restructuring Cost and Reserve [Line Items]  
Restructuring costs $ 0.6
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development
General and Administrative Expense  
Restructuring Cost and Reserve [Line Items]  
Restructuring costs $ 0.4
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] General and administrative