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Restructuring and Other Charges - Additional Information (Details)
$ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Dec. 31, 2023
USD ($)
Employees
Mar. 31, 2023
USD ($)
Employees
Jun. 30, 2023
USD ($)
Employees
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Restructuring Cost and Reserve [Line Items]          
Number of employees affected in workforce reduction | Employees   100      
Restructuring expenses recognized       $ 8,077  
Expected number of employees affect in workforce reduction | Employees 60        
Restructuring completion date Mar. 31, 2024        
Unpaid restructuring expenses $ 3,129     3,129 $ 0
Noncash charges, disposals of fixed assets and impairment of other assets       600  
One-time Employee Termination Benefits          
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses recognized   $ 3,100   7,467  
Restructuring expenses recognized 4,000     4,000  
Unpaid restructuring expenses $ 3,129     $ 3,129 $ 0
CHINA          
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses recognized     $ 900    
Number of employees eligible for separation pay | Employees     12    
CHINA | One-time Employee Termination Benefits          
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses recognized     $ 300